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
CCdlCOM *	comm
CLMBase *	katana
CCplSerialCRC *	proto
CCdlSocket *	socket

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.

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

• KNI.net.h
• KNI.net.cpp