KNI.net.h
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1 // KNI.net.h
2 
3 #pragma once
4 
5 #include "kniBase.h"
6 #include <memory>
7 namespace KNInet {
8 
9  public ref class Katana
10  {
11  private:
16  public:
17  //Katana(System::String ^connectionString, System::String ^configurationFile);
18  Katana(System::String ^ipAddress, System::String ^configurationFile);
19  ~Katana();
20 
21  void calibrate(void);
22 
23  array<int>^ getRobotEncoders(bool refreshEncoders);
24  void moveRobotToEnc(array<int> ^encoders, bool waitUntilReached, int waitTimeout);
25  void moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout);
26  array<double>^ getCoordinates(bool refreshEncoders);
27  void moveRobotTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
28  void moveRobotLinearTo(array<double> ^coordinates, bool waitUntilReached, int waitTimeout);
29 
30  void setMaximumLinearVelocity(double maximumVelocity);
31  double getMaximumLinearVelocity();
32 
33  void setActivatePositionController(bool activate);
35 
36  void enableCollisionLimits();
38  void unBlock();
39  void setCollisionLimit(int number, int limit);
40 
41  int getNumberOfMotors();
42  int getMotorEncoders(int number, bool refreshEncoders);
43 
44  int getMotorVelocityLimit(int number);
45  int getMotorAccelerationLimit(int number);
46  void setMotorVelocityLimit(int number, int velocity);
47  void setMotorAccelerationLimit(int number, int acceleration);
48 
49  void openGripper(bool waitUntilReached, int waitTimeout);
50  void closeGripper(bool waitUntilReached, int waitTimeout);
51 
52  void freezeRobot();
53  void freezeMotor(int number);
54  void switchRobotOn();
55  void switchRobotOff();
56  void switchMotorOn(int number);
57  void switchMotorOff(int number);
58  };
59 }
void switchMotorOff(int number)
Definition: KNI.net.cpp:290
int acceleration
void switchRobotOff()
Definition: KNI.net.cpp:274
int getNumberOfMotors()
Definition: KNI.net.cpp:206
void moveRobotToEnc(array< int >^encoders, bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:93
void setMotorVelocityLimit(int number, int velocity)
Definition: KNI.net.cpp:226
Implement the Serial-Zero protocol.
Definition: cplSerial.h:137
void freezeMotor(int number)
Definition: KNI.net.cpp:258
void openGripper(bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:234
void setActivatePositionController(bool activate)
Definition: KNI.net.cpp:167
array< double > getCoordinates(bool refreshEncoders)
Definition: KNI.net.cpp:113
void switchMotorOn(int number)
Definition: KNI.net.cpp:282
CCplSerialCRC * proto
Definition: KNI.net.h:15
void switchRobotOn()
Definition: KNI.net.cpp:266
void disableCollisionLimits()
Definition: KNI.net.cpp:183
CCdlCOM * comm
Definition: KNI.net.h:13
void freezeRobot()
Definition: KNI.net.cpp:250
void moveMotorToEnc(int motor, int encoder, bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:105
void setCollisionLimit(int number, int limit)
Definition: KNI.net.cpp:198
Encapsulates the socket communication device.
Definition: cdlSocket.h:65
Katana(System::String^ipAddress, System::String^configurationFile)
Definition: KNI.net.cpp:33
void moveRobotLinearTo(array< double >^coordinates, bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:147
void enableCollisionLimits()
Definition: KNI.net.cpp:175
array< int > getRobotEncoders(bool refreshEncoders)
Definition: KNI.net.cpp:79
int getMotorAccelerationLimit(int number)
Definition: KNI.net.cpp:222
void setMaximumLinearVelocity(double maximumVelocity)
Definition: KNI.net.cpp:159
Linear movement Class.
Definition: lmBase.h:73
int getMotorEncoders(int number, bool refreshEncoders)
Definition: KNI.net.cpp:210
void closeGripper(bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:242
void calibrate(void)
Definition: KNI.net.cpp:71
Encapsulates the serial port device.
Definition: cdlCOM.h:75
int velocity
bool getActivatePositionController()
Definition: KNI.net.cpp:171
void setMotorAccelerationLimit(int number, int acceleration)
Definition: KNI.net.cpp:230
void moveRobotTo(array< double >^coordinates, bool waitUntilReached, int waitTimeout)
Definition: KNI.net.cpp:135
double getMaximumLinearVelocity()
Definition: KNI.net.cpp:163
CLMBase * katana
Definition: KNI.net.h:12
CCdlSocket * socket
Definition: KNI.net.h:14
std::vector< int > encoders
Definition: kni_wrapper.cpp:29
int getMotorVelocityLimit(int number)
Definition: KNI.net.cpp:218
void unBlock()
Definition: KNI.net.cpp:191


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:16