11 #ifndef _KNI_WRAPPER_H_ 12 #define _KNI_WRAPPER_H_ 22 #define DLLEXPORT __declspec(dllexport) 28 #define DLLEXPORT __declspec(dllimport) 34 const double PI = 3.14159265358979323846;
117 bool first,
bool last);
232 DLLEXPORT int moveToPosEnc(
int enc1,
int enc2,
int enc3,
int enc4,
int enc5,
int enc6,
int velocity,
int acceleration,
int tolerance,
bool _wait);
364 #endif //_KNI_WRAPPER_H_
double phi
the orientation of the TCP
DLLEXPORT int moveMotAndWait(int axis, int targetpos, int tolerance)
DLLEXPORT int getDrive(int axis, int &value)
DLLEXPORT int moveToPosEnc(int enc1, int enc2, int enc3, int enc4, int enc5, int enc6, int velocity, int acceleration, int tolerance, bool _wait)
DLLEXPORT int clearMoveBuffers()
clears the movebuffers
DLLEXPORT int IO_readInput(int inputNr, int &value)
DLLEXPORT int setPositionCollisionLimit(int axis, int limit)
DLLEXPORT int setVelocityCollisionLimit(int axis, int limit)
ETransition transition
the transition to this position, PTP or LINEAR
DLLEXPORT int closeGripper()
TPos pos
The position, see above struct TPos.
DLLEXPORT int setMaxAccel(int axis, int acceleration)
DLLEXPORT int deleteMovementStack(char *name)
deletes a movemnt stack
DLLEXPORT int motorOff(int axis)
DLLEXPORT int getForce(int axis)
set the current force
DLLEXPORT int getCurrentControllerType(int axis)
DLLEXPORT int executeConnectedMovement(struct TMovement *movement, struct TPos *startPos, bool first, bool last)
DLLEXPORT int moveMot(int axis, int enc, int speed, int accel)
extern C because we want to access these interfaces from anywhere:
DLLEXPORT int getPosition(struct TPos *pos)
gets a position
int velocity
The velocitiy for this particular movement.
DLLEXPORT int getVersion(char value[])
gets the controlboard firmware version and returns it in the value argument
DLLEXPORT int allMotorsOn()
DLLEXPORT int setForceLimit(int axis, int limit)
DLLEXPORT int motorOn(int axis)
DLLEXPORT int setControllerParameters(int axis, int ki, int kspeed, int kpos)
ETransition
the transition types for a movement
DLLEXPORT int IO_setOutput(char output, int value)
DLLEXPORT int executeMovement(struct TMovement *movement)
DLLEXPORT int moveToPosLin(struct TPos *targetPos, int velocity, int acceleration)
moves in LM
DLLEXPORT int calibrate(int axis)
DLLEXPORT int deleteMovementFromStack(char *name, int index)
int acceleration
the acceleration for this particular movement
structure for the currently active axis
DLLEXPORT int pushMovementToStack(struct TMovement *movement, char *name)
double X
The position in cartesian space.
DLLEXPORT int getAxisFirmwareVersion(int axis, char value[])
gets the axis firmware version and returns it in the value argument
DLLEXPORT int runThroughMovementStack(char *name, int loops)
DLLEXPORT int setMaxVelocity(int axis, int vel)
DLLEXPORT int ModBusTCP_readWord(int address, int &value)
reads a value from the register 'address' (if not connected, connect to the IP in katana...
DLLEXPORT int moveToPos(struct TPos *pos, int velocity, int acceleration)
moves in IK
DLLEXPORT int openGripper()
DLLEXPORT int setCollisionDetection(int axis, bool state)
DLLEXPORT int getNumberOfMotors()
returns the number of motors configured
DLLEXPORT int startSplineMovement(int contd, int exactflag)
DLLEXPORT int getEncoder(int axis, int &value)
DLLEXPORT int setCollisionParameters(int axis, int position, int velocity)
DLLEXPORT int initKatana(char *configFile, char *ipaddress)
This initializes the Katana (communication etc)
DLLEXPORT int flushMoveBuffers()
flush all the movebuffers
DLLEXPORT int ping(int axis)
DLLEXPORT int ModBusTCP_writeWord(int address, int value)
DLLEXPORT int setGripper(bool hasGripper)
DLLEXPORT int sendSplineToMotor(int axis, int targetpos, int duration, int p0, int p1, int p2, int p3)
DLLEXPORT int allMotorsOff()
DLLEXPORT int getVelocity(int axis, int &value)
DLLEXPORT int unblock()
unblocks the robot after collision/instantstop
DLLEXPORT int waitForMot(int axis, int targetpos, int tolerance)