00001
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00005
00006
00007 import _KNI
00008 import new
00009 new_instancemethod = new.instancemethod
00010 try:
00011 _swig_property = property
00012 except NameError:
00013 pass
00014 def _swig_setattr_nondynamic(self,class_type,name,value,static=1):
00015 if (name == "thisown"): return self.this.own(value)
00016 if (name == "this"):
00017 if type(value).__name__ == 'PySwigObject':
00018 self.__dict__[name] = value
00019 return
00020 method = class_type.__swig_setmethods__.get(name,None)
00021 if method: return method(self,value)
00022 if (not static) or hasattr(self,name):
00023 self.__dict__[name] = value
00024 else:
00025 raise AttributeError("You cannot add attributes to %s" % self)
00026
00027 def _swig_setattr(self,class_type,name,value):
00028 return _swig_setattr_nondynamic(self,class_type,name,value,0)
00029
00030 def _swig_getattr(self,class_type,name):
00031 if (name == "thisown"): return self.this.own()
00032 method = class_type.__swig_getmethods__.get(name,None)
00033 if method: return method(self)
00034 raise AttributeError,name
00035
00036 def _swig_repr(self):
00037 try: strthis = "proxy of " + self.this.__repr__()
00038 except: strthis = ""
00039 return "<%s.%s; %s >" % (self.__class__.__module__, self.__class__.__name__, strthis,)
00040
00041 import types
00042 try:
00043 _object = types.ObjectType
00044 _newclass = 1
00045 except AttributeError:
00046 class _object : pass
00047 _newclass = 0
00048 del types
00049
00050
00051 ERR_NONE = _KNI.ERR_NONE
00052 ERR_SUCCESS = _KNI.ERR_SUCCESS
00053 class TPos(_object):
00054 __swig_setmethods__ = {}
00055 __setattr__ = lambda self, name, value: _swig_setattr(self, TPos, name, value)
00056 __swig_getmethods__ = {}
00057 __getattr__ = lambda self, name: _swig_getattr(self, TPos, name)
00058 __repr__ = _swig_repr
00059 __swig_setmethods__["X"] = _KNI.TPos_X_set
00060 __swig_getmethods__["X"] = _KNI.TPos_X_get
00061 if _newclass:X = _swig_property(_KNI.TPos_X_get, _KNI.TPos_X_set)
00062 __swig_setmethods__["Y"] = _KNI.TPos_Y_set
00063 __swig_getmethods__["Y"] = _KNI.TPos_Y_get
00064 if _newclass:Y = _swig_property(_KNI.TPos_Y_get, _KNI.TPos_Y_set)
00065 __swig_setmethods__["Z"] = _KNI.TPos_Z_set
00066 __swig_getmethods__["Z"] = _KNI.TPos_Z_get
00067 if _newclass:Z = _swig_property(_KNI.TPos_Z_get, _KNI.TPos_Z_set)
00068 __swig_setmethods__["phi"] = _KNI.TPos_phi_set
00069 __swig_getmethods__["phi"] = _KNI.TPos_phi_get
00070 if _newclass:phi = _swig_property(_KNI.TPos_phi_get, _KNI.TPos_phi_set)
00071 __swig_setmethods__["theta"] = _KNI.TPos_theta_set
00072 __swig_getmethods__["theta"] = _KNI.TPos_theta_get
00073 if _newclass:theta = _swig_property(_KNI.TPos_theta_get, _KNI.TPos_theta_set)
00074 __swig_setmethods__["psi"] = _KNI.TPos_psi_set
00075 __swig_getmethods__["psi"] = _KNI.TPos_psi_get
00076 if _newclass:psi = _swig_property(_KNI.TPos_psi_get, _KNI.TPos_psi_set)
00077 def __init__(self, *args):
00078 this = _KNI.new_TPos(*args)
00079 try: self.this.append(this)
00080 except: self.this = this
00081 __swig_destroy__ = _KNI.delete_TPos
00082 __del__ = lambda self : None;
00083 TPos_swigregister = _KNI.TPos_swigregister
00084 TPos_swigregister(TPos)
00085 cvar = _KNI.cvar
00086 PI = cvar.PI
00087
00088 PTP = _KNI.PTP
00089 LINEAR = _KNI.LINEAR
00090 class TMovement(_object):
00091 __swig_setmethods__ = {}
00092 __setattr__ = lambda self, name, value: _swig_setattr(self, TMovement, name, value)
00093 __swig_getmethods__ = {}
00094 __getattr__ = lambda self, name: _swig_getattr(self, TMovement, name)
00095 __repr__ = _swig_repr
00096 __swig_setmethods__["pos"] = _KNI.TMovement_pos_set
00097 __swig_getmethods__["pos"] = _KNI.TMovement_pos_get
00098 if _newclass:pos = _swig_property(_KNI.TMovement_pos_get, _KNI.TMovement_pos_set)
00099 __swig_setmethods__["transition"] = _KNI.TMovement_transition_set
00100 __swig_getmethods__["transition"] = _KNI.TMovement_transition_get
00101 if _newclass:transition = _swig_property(_KNI.TMovement_transition_get, _KNI.TMovement_transition_set)
00102 __swig_setmethods__["velocity"] = _KNI.TMovement_velocity_set
00103 __swig_getmethods__["velocity"] = _KNI.TMovement_velocity_get
00104 if _newclass:velocity = _swig_property(_KNI.TMovement_velocity_get, _KNI.TMovement_velocity_set)
00105 __swig_setmethods__["acceleration"] = _KNI.TMovement_acceleration_set
00106 __swig_getmethods__["acceleration"] = _KNI.TMovement_acceleration_get
00107 if _newclass:acceleration = _swig_property(_KNI.TMovement_acceleration_get, _KNI.TMovement_acceleration_set)
00108 def __init__(self, *args):
00109 this = _KNI.new_TMovement(*args)
00110 try: self.this.append(this)
00111 except: self.this = this
00112 __swig_destroy__ = _KNI.delete_TMovement
00113 __del__ = lambda self : None;
00114 TMovement_swigregister = _KNI.TMovement_swigregister
00115 TMovement_swigregister(TMovement)
00116
00117 class TCurrentMot(_object):
00118 __swig_setmethods__ = {}
00119 __setattr__ = lambda self, name, value: _swig_setattr(self, TCurrentMot, name, value)
00120 __swig_getmethods__ = {}
00121 __getattr__ = lambda self, name: _swig_getattr(self, TCurrentMot, name)
00122 __repr__ = _swig_repr
00123 __swig_setmethods__["idx"] = _KNI.TCurrentMot_idx_set
00124 __swig_getmethods__["idx"] = _KNI.TCurrentMot_idx_get
00125 if _newclass:idx = _swig_property(_KNI.TCurrentMot_idx_get, _KNI.TCurrentMot_idx_set)
00126 __swig_setmethods__["running"] = _KNI.TCurrentMot_running_set
00127 __swig_getmethods__["running"] = _KNI.TCurrentMot_running_get
00128 if _newclass:running = _swig_property(_KNI.TCurrentMot_running_get, _KNI.TCurrentMot_running_set)
00129 __swig_setmethods__["dir"] = _KNI.TCurrentMot_dir_set
00130 __swig_getmethods__["dir"] = _KNI.TCurrentMot_dir_get
00131 if _newclass:dir = _swig_property(_KNI.TCurrentMot_dir_get, _KNI.TCurrentMot_dir_set)
00132 def __init__(self, *args):
00133 this = _KNI.new_TCurrentMot(*args)
00134 try: self.this.append(this)
00135 except: self.this = this
00136 __swig_destroy__ = _KNI.delete_TCurrentMot
00137 __del__ = lambda self : None;
00138 TCurrentMot_swigregister = _KNI.TCurrentMot_swigregister
00139 TCurrentMot_swigregister(TCurrentMot)
00140
00141 allMotorsOff = _KNI.allMotorsOff
00142 allMotorsOn = _KNI.allMotorsOn
00143 calibrate = _KNI.calibrate
00144 clearMoveBuffers = _KNI.clearMoveBuffers
00145 closeGripper = _KNI.closeGripper
00146 deleteMovementFromStack = _KNI.deleteMovementFromStack
00147 deleteMovementStack = _KNI.deleteMovementStack
00148 executeConnectedMovement = _KNI.executeConnectedMovement
00149 executeMovement = _KNI.executeMovement
00150 getAxisFirmwareVersion = _KNI.getAxisFirmwareVersion
00151 getNumberOfMotors = _KNI.getNumberOfMotors
00152 getPosition = _KNI.getPosition
00153 getVersion = _KNI.getVersion
00154 initKatana = _KNI.initKatana
00155 IO_setOutput = _KNI.IO_setOutput
00156 ModBusTCP_writeWord = _KNI.ModBusTCP_writeWord
00157 motorOff = _KNI.motorOff
00158 motorOn = _KNI.motorOn
00159 moveMot = _KNI.moveMot
00160 moveMotAndWait = _KNI.moveMotAndWait
00161 moveToPos = _KNI.moveToPos
00162 moveToPosEnc = _KNI.moveToPosEnc
00163 moveToPosLin = _KNI.moveToPosLin
00164 openGripper = _KNI.openGripper
00165 ping = _KNI.ping
00166 pushMovementToStack = _KNI.pushMovementToStack
00167 runThroughMovementStack = _KNI.runThroughMovementStack
00168 sendSplineToMotor = _KNI.sendSplineToMotor
00169 setCollisionDetection = _KNI.setCollisionDetection
00170 setCollisionParameters = _KNI.setCollisionParameters
00171 setControllerParameters = _KNI.setControllerParameters
00172 setGripper = _KNI.setGripper
00173 setMaxAccel = _KNI.setMaxAccel
00174 setMaxVelocity = _KNI.setMaxVelocity
00175 setPositionCollisionLimit = _KNI.setPositionCollisionLimit
00176 setVelocityCollisionLimit = _KNI.setVelocityCollisionLimit
00177 startSplineMovement = _KNI.startSplineMovement
00178 unblock = _KNI.unblock
00179 waitForMot = _KNI.waitForMot
00180 getDrive = _KNI.getDrive
00181 getEncoder = _KNI.getEncoder
00182 getVelocity = _KNI.getVelocity
00183 IO_readInput = _KNI.IO_readInput
00184 ModBusTCP_readWord = _KNI.ModBusTCP_readWord
00185
00186
