Public Member Functions | Protected Attributes | List of all members
CKatBase Class Reference

Base Katana class. More...

#include <kmlBase.h>

Public Member Functions

int checkKatanaType (int type)
 checks for a K300 or K400 More...
 
 CKatBase ()
 
void disableCrashLimits ()
 crash limits disable More...
 
void enableCrashLimits ()
 crash limits enable More...
 
int flushMoveBuffers ()
 flush move buffers on all motors: More...
 
const TKatCBXGetCBX ()
 Get a pointer to the desired structure. More...
 
const TKatCTBGetCTB ()
 Get a pointer to the desired structure. More...
 
const TKatECHGetECH ()
 Get a pointer to the desired structure. More...
 
TKatEFFGetEFF ()
 Get a pointer to the desired structure. More...
 
const TKatGNLGetGNL ()
 Get a pointer to the desired structure. More...
 
const TKatIDSGetIDS ()
 Get a pointer to the desired structure. More...
 
void getMasterFirmware (short *fw, short *rev)
 Get the master firmware of the robot we are communicating with. More...
 
const TKatMFWGetMFW ()
 Get a pointer to the desired structure. More...
 
const TKatMOTGetMOT ()
 Get a pointer to the desired structure. More...
 
CCplBasegetProtocol ()
 get a handle of the protocol, used in CKatana More...
 
const TKatSCTGetSCT ()
 Get a pointer to the desired structure. More...
 
virtual bool init (const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol)
 
int readDigitalIO ()
 get digital I/O data from Katana400: More...
 
void recvCTB ()
 receive data More...
 
void recvECH ()
 receive data More...
 
void recvGMS ()
 receive data More...
 
void recvIDS ()
 receive data More...
 
void recvMFW ()
 receive data More...
 
void recvMPS ()
 read all motor positions simultaneously More...
 
void setAndStartPolyMovement (std::vector< short > polynomial, int exactflag, int moreflag)
 
void setCrashLimit (long idx, int limit)
 set collision limits More...
 
void setPositionCollisionLimit (long idx, int limit)
 set collision position limits More...
 
void setSpeedCollisionLimit (long idx, int limit)
 set collision speed limits More...
 
void startSplineMovement (int exactflag, int moreflag=1)
 
void unBlock ()
 unblock robot after a crash More...
 
void waitFor (TMotStsFlg status, int waitTimeout, bool gripper)
 wait for motor on all motors More...
 
virtual ~CKatBase ()
 destructor More...
 

Protected Attributes

TKatCBX cbx
 connector box More...
 
TKatCTB ctb
 cmd table More...
 
TKatECH ech
 echo More...
 
TKatEFF eff
 end effector More...
 
TKatGNL gnl
 katana general More...
 
TKatIDS ids
 ID string. More...
 
TKatMFW mfw
 master's firmware version/revision More...
 
short mMasterRevision
 master firmware revision More...
 
short mMasterVersion
 master version of robot we are communicating with More...
 
TKatMOT mot
 motors More...
 
CCplBaseprotocol
 protocol interface More...
 
TKatSCT sct
 sensor controllers More...
 

Detailed Description

Base Katana class.

This class is the main object controlling the whole katana; to use it, it has to be initilized by using it's init function; those function expects a initilized protocol class, which in turn expects an initilized device! after the initialization, it does not mean that the coordinates (encoder values) of the motors have been set correctly; for that a calibration is needen; that calibration can be executed either by using the CKatana class in the 'kmlExt' module (which encapsulates this class) or by writing your own calibrations function..

Definition at line 132 of file kmlBase.h.

Constructor & Destructor Documentation

CKatBase::CKatBase ( )
inline

Definition at line 172 of file kmlBase.h.

virtual CKatBase::~CKatBase ( )
inlinevirtual

destructor

Definition at line 175 of file kmlBase.h.

Member Function Documentation

int CKatBase::checkKatanaType ( int  type)

checks for a K300 or K400

Definition at line 260 of file kmlBase.cpp.

void CKatBase::disableCrashLimits ( )

crash limits disable

Definition at line 186 of file kmlBase.cpp.

void CKatBase::enableCrashLimits ( )

crash limits enable

Definition at line 169 of file kmlBase.cpp.

int CKatBase::flushMoveBuffers ( )

flush move buffers on all motors:

Definition at line 291 of file kmlBase.cpp.

const TKatCBX* CKatBase::GetCBX ( )
inline

Get a pointer to the desired structure.

Definition at line 160 of file kmlBase.h.

const TKatCTB* CKatBase::GetCTB ( )
inline

Get a pointer to the desired structure.

Definition at line 158 of file kmlBase.h.

const TKatECH* CKatBase::GetECH ( )
inline

Get a pointer to the desired structure.

Definition at line 162 of file kmlBase.h.

TKatEFF* CKatBase::GetEFF ( )
inline

Get a pointer to the desired structure.

Definition at line 169 of file kmlBase.h.

const TKatGNL* CKatBase::GetGNL ( )
inline

Get a pointer to the desired structure.

Definition at line 152 of file kmlBase.h.

const TKatIDS* CKatBase::GetIDS ( )
inline

Get a pointer to the desired structure.

Definition at line 156 of file kmlBase.h.

void CKatBase::getMasterFirmware ( short *  fw,
short *  rev 
)

Get the master firmware of the robot we are communicating with.

Get master firmware read at initialization time.

Definition at line 164 of file kmlBase.cpp.

const TKatMFW* CKatBase::GetMFW ( )
inline

Get a pointer to the desired structure.

Definition at line 154 of file kmlBase.h.

const TKatMOT* CKatBase::GetMOT ( )
inline

Get a pointer to the desired structure.

Definition at line 165 of file kmlBase.h.

CCplBase* CKatBase::getProtocol ( )
inline

get a handle of the protocol, used in CKatana

Definition at line 200 of file kmlBase.h.

const TKatSCT* CKatBase::GetSCT ( )
inline

Get a pointer to the desired structure.

Definition at line 167 of file kmlBase.h.

bool CKatBase::init ( const TKatGNL  _gnl,
const TKatMOT  _mot,
const TKatSCT  _sct,
const TKatEFF  _eff,
CCplBase _protocol 
)
virtual
Parameters
_gnlgeneral attributes
_motmotor attributes
_sctsensor controller attributes
_effend effector attributes
_protocoldesired protocol

Definition at line 27 of file kmlBase.cpp.

int CKatBase::readDigitalIO ( )

get digital I/O data from Katana400:

Definition at line 278 of file kmlBase.cpp.

void CKatBase::recvCTB ( )

receive data

Definition at line 88 of file kmlBase.cpp.

void CKatBase::recvECH ( )

receive data

Definition at line 150 of file kmlBase.cpp.

void CKatBase::recvGMS ( )

receive data

Definition at line 102 of file kmlBase.cpp.

void CKatBase::recvIDS ( )

receive data

Definition at line 75 of file kmlBase.cpp.

void CKatBase::recvMFW ( )

receive data

Definition at line 62 of file kmlBase.cpp.

void CKatBase::recvMPS ( )

read all motor positions simultaneously

Definition at line 247 of file kmlBase.cpp.

void CKatBase::setAndStartPolyMovement ( std::vector< short >  polynomial,
int  exactflag,
int  moreflag 
)

Send polynomials to all motors and start movement

Parameters
polynomialtime, target pos and coefficients of the motor polynomials
exactflagexactflag
moreflag0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following

Definition at line 233 of file kmlBase.cpp.

void CKatBase::setCrashLimit ( long  idx,
int  limit 
)

set collision limits

//deprecated, use speed & position

Definition at line 197 of file kmlBase.cpp.

void CKatBase::setPositionCollisionLimit ( long  idx,
int  limit 
)

set collision position limits

Definition at line 209 of file kmlBase.cpp.

void CKatBase::setSpeedCollisionLimit ( long  idx,
int  limit 
)

set collision speed limits

Definition at line 213 of file kmlBase.cpp.

void CKatBase::startSplineMovement ( int  exactflag,
int  moreflag = 1 
)

Start a spline movement

Parameters
exactflagSet it to 1 if you want the position controller activated after the movement, 0 otherwise, add 2 to set motor6_follow (no gripper)
moreflag0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following

Definition at line 223 of file kmlBase.cpp.

void CKatBase::unBlock ( )

unblock robot after a crash

Definition at line 217 of file kmlBase.cpp.

void CKatBase::waitFor ( TMotStsFlg  status,
int  waitTimeout,
bool  gripper 
)

wait for motor on all motors

Definition at line 118 of file kmlBase.cpp.

Member Data Documentation

TKatCBX CKatBase::cbx
protected

connector box

Definition at line 139 of file kmlBase.h.

TKatCTB CKatBase::ctb
protected

cmd table

Definition at line 138 of file kmlBase.h.

TKatECH CKatBase::ech
protected

echo

Definition at line 140 of file kmlBase.h.

TKatEFF CKatBase::eff
protected

end effector

Definition at line 144 of file kmlBase.h.

TKatGNL CKatBase::gnl
protected

katana general

Definition at line 135 of file kmlBase.h.

TKatIDS CKatBase::ids
protected

ID string.

Definition at line 137 of file kmlBase.h.

TKatMFW CKatBase::mfw
protected

master's firmware version/revision

Definition at line 136 of file kmlBase.h.

short CKatBase::mMasterRevision
protected

master firmware revision

Definition at line 148 of file kmlBase.h.

short CKatBase::mMasterVersion
protected

master version of robot we are communicating with

Definition at line 147 of file kmlBase.h.

TKatMOT CKatBase::mot
protected

motors

Definition at line 142 of file kmlBase.h.

CCplBase* CKatBase::protocol
protected

protocol interface

Definition at line 146 of file kmlBase.h.

TKatSCT CKatBase::sct
protected

sensor controllers

Definition at line 143 of file kmlBase.h.


The documentation for this class was generated from the following files:


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17