Public Member Functions | Private Attributes | List of all members
KNInet::Katana Class Reference

#include <KNI.net.h>

Public Member Functions

void calibrate (void)
 
void closeGripper (bool waitUntilReached, int waitTimeout)
 
void disableCollisionLimits ()
 
void enableCollisionLimits ()
 
void freezeMotor (int number)
 
void freezeRobot ()
 
bool getActivatePositionController ()
 
array< double > getCoordinates (bool refreshEncoders)
 
double getMaximumLinearVelocity ()
 
int getMotorAccelerationLimit (int number)
 
int getMotorEncoders (int number, bool refreshEncoders)
 
int getMotorVelocityLimit (int number)
 
int getNumberOfMotors ()
 
array< int > getRobotEncoders (bool refreshEncoders)
 
 Katana (System::String^ipAddress, System::String^configurationFile)
 
void moveMotorToEnc (int motor, int encoder, bool waitUntilReached, int waitTimeout)
 
void moveRobotLinearTo (array< double >^coordinates, bool waitUntilReached, int waitTimeout)
 
void moveRobotTo (array< double >^coordinates, bool waitUntilReached, int waitTimeout)
 
void moveRobotToEnc (array< int >^encoders, bool waitUntilReached, int waitTimeout)
 
void openGripper (bool waitUntilReached, int waitTimeout)
 
void setActivatePositionController (bool activate)
 
void setCollisionLimit (int number, int limit)
 
void setMaximumLinearVelocity (double maximumVelocity)
 
void setMotorAccelerationLimit (int number, int acceleration)
 
void setMotorVelocityLimit (int number, int velocity)
 
void switchMotorOff (int number)
 
void switchMotorOn (int number)
 
void switchRobotOff ()
 
void switchRobotOn ()
 
void unBlock ()
 
 ~Katana ()
 

Private Attributes

CCdlCOMcomm
 
CLMBasekatana
 
CCplSerialCRCproto
 
CCdlSocketsocket
 

Detailed Description

Definition at line 9 of file KNI.net.h.

Constructor & Destructor Documentation

KNInet::Katana::Katana ( System::String^  ipAddress,
System::String^  configurationFile 
)

Definition at line 33 of file KNI.net.cpp.

KNInet::Katana::~Katana ( )

Definition at line 26 of file KNI.net.cpp.

Member Function Documentation

void KNInet::Katana::calibrate ( void  )

Definition at line 71 of file KNI.net.cpp.

void KNInet::Katana::closeGripper ( bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 242 of file KNI.net.cpp.

void KNInet::Katana::disableCollisionLimits ( )

Definition at line 183 of file KNI.net.cpp.

void KNInet::Katana::enableCollisionLimits ( )

Definition at line 175 of file KNI.net.cpp.

void KNInet::Katana::freezeMotor ( int  number)

Definition at line 258 of file KNI.net.cpp.

void KNInet::Katana::freezeRobot ( )

Definition at line 250 of file KNI.net.cpp.

bool KNInet::Katana::getActivatePositionController ( )

Definition at line 171 of file KNI.net.cpp.

array< double > KNInet::Katana::getCoordinates ( bool  refreshEncoders)

Definition at line 113 of file KNI.net.cpp.

double KNInet::Katana::getMaximumLinearVelocity ( )

Definition at line 163 of file KNI.net.cpp.

int KNInet::Katana::getMotorAccelerationLimit ( int  number)

Definition at line 222 of file KNI.net.cpp.

int KNInet::Katana::getMotorEncoders ( int  number,
bool  refreshEncoders 
)

Definition at line 210 of file KNI.net.cpp.

int KNInet::Katana::getMotorVelocityLimit ( int  number)

Definition at line 218 of file KNI.net.cpp.

int KNInet::Katana::getNumberOfMotors ( )

Definition at line 206 of file KNI.net.cpp.

array< int > KNInet::Katana::getRobotEncoders ( bool  refreshEncoders)

Definition at line 79 of file KNI.net.cpp.

void KNInet::Katana::moveMotorToEnc ( int  motor,
int  encoder,
bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 105 of file KNI.net.cpp.

void KNInet::Katana::moveRobotLinearTo ( array< double >^  coordinates,
bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 147 of file KNI.net.cpp.

void KNInet::Katana::moveRobotTo ( array< double >^  coordinates,
bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 135 of file KNI.net.cpp.

void KNInet::Katana::moveRobotToEnc ( array< int >^  encoders,
bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 93 of file KNI.net.cpp.

void KNInet::Katana::openGripper ( bool  waitUntilReached,
int  waitTimeout 
)

Definition at line 234 of file KNI.net.cpp.

void KNInet::Katana::setActivatePositionController ( bool  activate)

Definition at line 167 of file KNI.net.cpp.

void KNInet::Katana::setCollisionLimit ( int  number,
int  limit 
)

Definition at line 198 of file KNI.net.cpp.

void KNInet::Katana::setMaximumLinearVelocity ( double  maximumVelocity)

Definition at line 159 of file KNI.net.cpp.

void KNInet::Katana::setMotorAccelerationLimit ( int  number,
int  acceleration 
)

Definition at line 230 of file KNI.net.cpp.

void KNInet::Katana::setMotorVelocityLimit ( int  number,
int  velocity 
)

Definition at line 226 of file KNI.net.cpp.

void KNInet::Katana::switchMotorOff ( int  number)

Definition at line 290 of file KNI.net.cpp.

void KNInet::Katana::switchMotorOn ( int  number)

Definition at line 282 of file KNI.net.cpp.

void KNInet::Katana::switchRobotOff ( )

Definition at line 274 of file KNI.net.cpp.

void KNInet::Katana::switchRobotOn ( )

Definition at line 266 of file KNI.net.cpp.

void KNInet::Katana::unBlock ( )

Definition at line 191 of file KNI.net.cpp.

Member Data Documentation

CCdlCOM* KNInet::Katana::comm
private

Definition at line 13 of file KNI.net.h.

CLMBase* KNInet::Katana::katana
private

Definition at line 12 of file KNI.net.h.

CCplSerialCRC* KNInet::Katana::proto
private

Definition at line 15 of file KNI.net.h.

CCdlSocket* KNInet::Katana::socket
private

Definition at line 14 of file KNI.net.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