48 Exception(
"Cannot open configuration file '" + port +
"'", -40) {}
79 void setTolerance(
long idx,
int enc_tolerance);
121 void searchMechStop(
long idx,
131 void inc(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
134 void dec(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
138 void mov(
long idx,
int tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
143 void incDegrees(
long idx,
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
146 void decDegrees(
long idx,
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
150 void movDegrees(
long idx,
double tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
157 bool checkENLD(
long idx,
double degrees);
164 void setGripperParameters(
bool isPresent,
int openEncoders,
int closeEncoders);
166 void getGripperParameters(
bool &isPresent,
int &openEncoders,
int &closeEncoders);
171 void enableCrashLimits();
174 void disableCrashLimits();
183 void setCrashLimit(
long idx,
int limit);
189 void setSpeedCollisionLimit(
long idx,
int limit);
198 int getMotorEncoders(
short number,
bool refreshEncoders =
true)
const;
203 std::vector<int>::iterator getRobotEncoders(std::vector<int>::iterator start, std::vector<int>::const_iterator end,
bool refreshEncoders =
true)
const;
208 std::vector<int> getRobotEncoders(
bool refreshEncoders =
true)
const;
210 short getMotorVelocityLimit(
short number )
const;
211 short getMotorAccelerationLimit(
short number )
const;
213 void setMotorVelocityLimit(
short number,
short velocity );
214 void setMotorAccelerationLimit(
short number,
short acceleration );
223 void setRobotVelocityLimit(
short velocity );
226 void setRobotAccelerationLimit(
short acceleration );
228 void moveMotorByEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int waitTimeout = 0);
229 void moveMotorBy (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
231 void moveMotorToEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
232 void moveMotorTo (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
234 void waitForMotor(
short number,
int encoders,
int encTolerance = 100,
short mode = 0,
int waitTimeout = 5000);
235 void waitFor(
TMotStsFlg status,
int waitTimeout);
240 void moveRobotToEnc(std::vector<int>::const_iterator start, std::vector<int>::const_iterator end,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
244 void moveRobotToEnc(std::vector<int> encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
246 void moveRobotToEnc4D(std::vector<int> target,
int velocity=180,
int acceleration = 1,
int encTolerance = 100);
248 void openGripper (
bool waitUntilReached =
false,
int waitTimeout = 100);
249 void closeGripper(
bool waitUntilReached =
false,
int waitTimeout = 100);
252 void freezeMotor(
short number);
253 void switchRobotOn();
254 void switchRobotOff();
255 void switchMotorOn(
short number);
256 void switchMotorOff(
short number);
266 void sendSplineToMotor(
short number,
short targetPosition,
short duration,
short p1,
short p2,
short p3,
short p4);
272 void setAndStartPolyMovement(std::vector<short> polynomial,
bool exactflag,
int moreflag);
int mKatanaType
The type of KatanaXXX (300 or 400)
CKatBase * base
base katana
static std::unique_ptr< CCplSerialCRC > protocol
Abstract base class for protocol definiton.
[SCT] every sens ctrl's attributes
ConfigFileOpenException(const std::string &port)
#define TM_ENDLESS
timeout symbol for 'endless' waiting
DLLEXPORT int getForce(int axis)
set the current force
DLLEXPORT int getCurrentControllerType(int axis)
Exception(const std::string &message, const int error_number)
DLLEXPORT int setForceLimit(int axis, int limit)
Calibration structure for single motors.
Inverse Kinematics structure of the endeffektor.
[MOT] every motor's attributes
CKatBase * GetBase()
Returns pointer to 'CKatBase*'.
setPositionCollisionLimit
int mKinematics
The kinematics implementation: 0 for Analytical, 1 for RobAnaGuess.
Extended Katana class with additional functions.
[SCP] static controller parameters
[GNL] general robot attributes
DLLEXPORT int flushMoveBuffers()
flush all the movebuffers
int _gripperCloseEncoders
std::vector< int > encoders