KNInet::Katana Class Reference

#include <KNI.net.h>

List of all members.

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

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Detailed Description

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

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Constructor & Destructor Documentation

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

Definition at line 28 of file KNI.net.cpp.

KNInet::Katana::~Katana

(

)

Definition at line 21 of file KNI.net.cpp.

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Member Function Documentation

void KNInet::Katana::calibrate

(

void

)

Definition at line 66 of file KNI.net.cpp.

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

Definition at line 237 of file KNI.net.cpp.

void KNInet::Katana::disableCollisionLimits

(

)

Definition at line 178 of file KNI.net.cpp.

void KNInet::Katana::enableCollisionLimits

(

)

Definition at line 170 of file KNI.net.cpp.

void KNInet::Katana::freezeMotor

(

int

number

)

Definition at line 253 of file KNI.net.cpp.

void KNInet::Katana::freezeRobot

(

)

Definition at line 245 of file KNI.net.cpp.

bool KNInet::Katana::getActivatePositionController

(

)

Definition at line 166 of file KNI.net.cpp.

array< double > KNInet::Katana::getCoordinates

(

bool

refreshEncoders

)

Definition at line 108 of file KNI.net.cpp.

double KNInet::Katana::getMaximumLinearVelocity

(

)

Definition at line 158 of file KNI.net.cpp.

int KNInet::Katana::getMotorAccelerationLimit

(

int

number

)

Definition at line 217 of file KNI.net.cpp.

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

Definition at line 205 of file KNI.net.cpp.

int KNInet::Katana::getMotorVelocityLimit

(

int

number

)

Definition at line 213 of file KNI.net.cpp.

int KNInet::Katana::getNumberOfMotors

(

)

Definition at line 201 of file KNI.net.cpp.

array< int > KNInet::Katana::getRobotEncoders

(

bool

refreshEncoders

)

Definition at line 74 of file KNI.net.cpp.

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

Definition at line 100 of file KNI.net.cpp.

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

Definition at line 142 of file KNI.net.cpp.

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

Definition at line 130 of file KNI.net.cpp.

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

Definition at line 88 of file KNI.net.cpp.

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

Definition at line 229 of file KNI.net.cpp.

void KNInet::Katana::setActivatePositionController

(

bool

activate

)

Definition at line 162 of file KNI.net.cpp.

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

Definition at line 193 of file KNI.net.cpp.

void KNInet::Katana::setMaximumLinearVelocity

(

double

maximumVelocity

)

Definition at line 154 of file KNI.net.cpp.

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

Definition at line 225 of file KNI.net.cpp.

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

Definition at line 221 of file KNI.net.cpp.

void KNInet::Katana::switchMotorOff

(

int

number

)

Definition at line 285 of file KNI.net.cpp.

void KNInet::Katana::switchMotorOn

(

int

number

)

Definition at line 277 of file KNI.net.cpp.

void KNInet::Katana::switchRobotOff

(

)

Definition at line 269 of file KNI.net.cpp.

void KNInet::Katana::switchRobotOn

(

)

Definition at line 261 of file KNI.net.cpp.

void KNInet::Katana::unBlock

(

)

Definition at line 186 of file KNI.net.cpp.

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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