KatanaNativeInterface  $VERSION$
Public Member Functions | Protected Attributes | List of all members
CKatBase Class Reference

Base Katana class. More...

#include <kmlBase.h>

Collaboration diagram for CKatBase:
Collaboration graph

Public Member Functions

const TKatGNLGetGNL ()
 Get a pointer to the desired structure. More...
 
const TKatMFWGetMFW ()
 Get a pointer to the desired structure. More...
 
const TKatIDSGetIDS ()
 Get a pointer to the desired structure. More...
 
const TKatCTBGetCTB ()
 Get a pointer to the desired structure. More...
 
const TKatCBXGetCBX ()
 Get a pointer to the desired structure. More...
 
const TKatECHGetECH ()
 Get a pointer to the desired structure. More...
 
const TKatMOTGetMOT ()
 Get a pointer to the desired structure. More...
 
const TKatSCTGetSCT ()
 Get a pointer to the desired structure. More...
 
TKatEFFGetEFF ()
 Get a pointer to the desired structure. More...
 
 CKatBase ()
 
virtual ~CKatBase ()
 destructor More...
 
virtual bool init (const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol)
 
void recvMFW ()
 receive data More...
 
void recvIDS ()
 receive data More...
 
void recvCTB ()
 receive data More...
 
void recvGMS ()
 receive data More...
 
void recvCBX ()
 receive data More...
 
void recvECH ()
 receive data More...
 
void recvNMP ()
 receive data More...
 
void recvMPS ()
 read all motor positions simultaneously More...
 
CCplBasegetProtocol ()
 get a handle of the protocol, used in CKatana More...
 
int checkKatanaType (int type)
 checks for a K300 or K400 More...
 
void sendCBX (const TKatCBX *_cbx)
 send data More...
 
void sendTPSP ()
 parallel movements More...
 
void getMasterFirmware (short *fw, short *rev)
 Get the master firmware of the robot we are communicating with. More...
 
void enableCrashLimits ()
 crash limits enable More...
 
void disableCrashLimits ()
 crash limits disable More...
 
void unBlock ()
 unblock robot after a crash More...
 
void setCrashLimit (long idx, int limit)
 set collision limits More...
 
void setPositionCollisionLimit (long idx, int limit)
 set collision position limits More...
 
void setSpeedCollisionLimit (long idx, int limit)
 set collision speed limits More...
 
void startSplineMovement (bool exactflag, int moreflag=1)
 Start a spline movement. More...
 
void startFourSplinesMovement (bool exactflag)
 Start a fourSplines movement. More...
 
void sendSLMP (byte *p)
 linear movements More...
 
void sendSLM (bool exactflag)
 linear movements More...
 

Protected Attributes

TKatGNL gnl
 katana general More...
 
TKatMFW mfw
 master's firmware version/revision More...
 
TKatIDS ids
 ID string. More...
 
TKatCTB ctb
 cmd table More...
 
TKatCBX cbx
 connector box More...
 
TKatECH ech
 echo More...
 
TKatMOT mot
 motors More...
 
TKatSCT sct
 sensor controllers More...
 
TKatEFF eff
 end effector More...
 
CCplBaseprotocol
 protocol interface More...
 
short mMasterVersion
 master version of robot we are communicating with More...
 
short mMasterRevision
 master firmware revision More...
 

Detailed Description

Base Katana class.

This class is the main object controlling the whole katana; to use it, it has to be initilized by using it's init function; those function expects a initilized protocol class, which in turn expects an initilized device! after the initialization, it does not mean that the coordinates (encoder values) of the motors have been set correctly; for that a calibration is needen; that calibration can be executed either by using the CKatana class in the 'kmlExt' module (which encapsulates this class) or by writing your own calibrations function..

Definition at line 132 of file kmlBase.h.

Constructor & Destructor Documentation

CKatBase::CKatBase ( )
inline

Definition at line 172 of file kmlBase.h.

virtual CKatBase::~CKatBase ( )
inlinevirtual

destructor

Definition at line 175 of file kmlBase.h.

Member Function Documentation

int CKatBase::checkKatanaType ( int  type)

checks for a K300 or K400

void CKatBase::disableCrashLimits ( )

crash limits disable

void CKatBase::enableCrashLimits ( )

crash limits enable

const TKatCBX* CKatBase::GetCBX ( )
inline

Get a pointer to the desired structure.

Definition at line 160 of file kmlBase.h.

const TKatCTB* CKatBase::GetCTB ( )
inline

Get a pointer to the desired structure.

Definition at line 158 of file kmlBase.h.

const TKatECH* CKatBase::GetECH ( )
inline

Get a pointer to the desired structure.

Definition at line 162 of file kmlBase.h.

TKatEFF* CKatBase::GetEFF ( )
inline

Get a pointer to the desired structure.

Definition at line 169 of file kmlBase.h.

const TKatGNL* CKatBase::GetGNL ( )
inline

Get a pointer to the desired structure.

Definition at line 152 of file kmlBase.h.

const TKatIDS* CKatBase::GetIDS ( )
inline

Get a pointer to the desired structure.

Definition at line 156 of file kmlBase.h.

void CKatBase::getMasterFirmware ( short *  fw,
short *  rev 
)

Get the master firmware of the robot we are communicating with.

Get master firmware read at initialization time.

const TKatMFW* CKatBase::GetMFW ( )
inline

Get a pointer to the desired structure.

Definition at line 154 of file kmlBase.h.

const TKatMOT* CKatBase::GetMOT ( )
inline

Get a pointer to the desired structure.

Definition at line 165 of file kmlBase.h.

CCplBase* CKatBase::getProtocol ( )
inline

get a handle of the protocol, used in CKatana

Definition at line 202 of file kmlBase.h.

const TKatSCT* CKatBase::GetSCT ( )
inline

Get a pointer to the desired structure.

Definition at line 167 of file kmlBase.h.

virtual bool CKatBase::init ( const TKatGNL  _gnl,
const TKatMOT  _mot,
const TKatSCT  _sct,
const TKatEFF  _eff,
CCplBase _protocol 
)
virtual
Parameters
_gnlgeneral attributes
_motmotor attributes
_sctsensor controller attributes
_effend effector attributes
_protocoldesired protocol

Referenced by CMotBase::~CMotBase(), and CSctBase::~CSctBase().

void CKatBase::recvCBX ( )

receive data

void CKatBase::recvCTB ( )

receive data

void CKatBase::recvECH ( )

receive data

void CKatBase::recvGMS ( )

receive data

void CKatBase::recvIDS ( )

receive data

void CKatBase::recvMFW ( )

receive data

void CKatBase::recvMPS ( )

read all motor positions simultaneously

void CKatBase::recvNMP ( )

receive data

void CKatBase::sendCBX ( const TKatCBX _cbx)

send data

void CKatBase::sendSLM ( bool  exactflag)

linear movements

void CKatBase::sendSLMP ( byte p)

linear movements

void CKatBase::sendTPSP ( )

parallel movements

deprecated: for use with old Katana5M only

void CKatBase::setCrashLimit ( long  idx,
int  limit 
)

set collision limits

//deprecated, use speed & position

Referenced by CMotBase::setSpeedLimit().

void CKatBase::setPositionCollisionLimit ( long  idx,
int  limit 
)

set collision position limits

Referenced by CMotBase::setSpeedLimit().

void CKatBase::setSpeedCollisionLimit ( long  idx,
int  limit 
)

set collision speed limits

Referenced by CMotBase::setSpeedLimit().

void CKatBase::startFourSplinesMovement ( bool  exactflag)

Start a fourSplines movement.

Parameters
exactflagSet it to true if you want the position controller activated after the movement
void CKatBase::startSplineMovement ( bool  exactflag,
int  moreflag = 1 
)

Start a spline movement.

Parameters
exactflagSet it to true if you want the position controller activated after the movement
moreflag0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following
void CKatBase::unBlock ( )

unblock robot after a crash

Member Data Documentation

TKatCBX CKatBase::cbx
protected

connector box

Definition at line 139 of file kmlBase.h.

TKatCTB CKatBase::ctb
protected

cmd table

Definition at line 138 of file kmlBase.h.

TKatECH CKatBase::ech
protected

echo

Definition at line 140 of file kmlBase.h.

TKatEFF CKatBase::eff
protected

end effector

Definition at line 144 of file kmlBase.h.

TKatGNL CKatBase::gnl
protected

katana general

Definition at line 135 of file kmlBase.h.

Referenced by CSctBase::GetGNL(), and CMotBase::GetGNL().

TKatIDS CKatBase::ids
protected

ID string.

Definition at line 137 of file kmlBase.h.

TKatMFW CKatBase::mfw
protected

master's firmware version/revision

Definition at line 136 of file kmlBase.h.

short CKatBase::mMasterRevision
protected

master firmware revision

Definition at line 148 of file kmlBase.h.

short CKatBase::mMasterVersion
protected

master version of robot we are communicating with

Definition at line 147 of file kmlBase.h.

TKatMOT CKatBase::mot
protected

motors

Definition at line 142 of file kmlBase.h.

CCplBase* CKatBase::protocol
protected

protocol interface

Definition at line 146 of file kmlBase.h.

TKatSCT CKatBase::sct
protected

sensor controllers

Definition at line 143 of file kmlBase.h.


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