48 Exception(
"Cannot open configuration file '" + port +
"'", -40) {}
77 void setTolerance(
long idx,
int enc_tolerance);
93 void create(
const char* configurationFile,
CCplBase* protocol);
111 void calibrate(
long idx,
119 void searchMechStop(
long idx,
129 void inc(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
132 void dec(
long idx,
int dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
136 void mov(
long idx,
int tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
141 void incDegrees(
long idx,
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
144 void decDegrees(
long idx,
double dif,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
148 void movDegrees(
long idx,
double tar,
bool wait =
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
158 void setTPSP(
long idx,
int tar);
168 void sendTPSP(
bool wait =
false,
long timeout =
TM_ENDLESS);
174 void setTPSPDegrees(
long idx,
double tar);
181 bool checkENLD(
long idx,
double degrees);
188 void setGripperParameters(
bool isPresent,
int openEncoders,
int closeEncoders);
194 void enableCrashLimits();
197 void disableCrashLimits();
203 void setCrashLimit(
long idx,
int limit);
206 void setPositionCollisionLimit(
long idx,
int limit);
209 void setSpeedCollisionLimit(
long idx,
int limit);
213 short getNumberOfMotors()
const;
214 int getMotorEncoders(
short number,
bool refreshEncoders =
true)
const;
219 std::vector<int>::iterator getRobotEncoders(std::vector<int>::iterator start, std::vector<int>::const_iterator end,
bool refreshEncoders =
true)
const;
224 std::vector<int> getRobotEncoders(
bool refreshEncoders =
true)
const;
226 short getMotorVelocityLimit(
short number )
const;
227 short getMotorAccelerationLimit(
short number )
const;
229 void setMotorVelocityLimit(
short number,
short velocity );
230 void setMotorAccelerationLimit(
short number,
short acceleration );
232 void setRobotVelocityLimit(
short velocity );
235 void setRobotAccelerationLimit(
short acceleration );
237 void moveMotorByEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int waitTimeout = 0);
238 void moveMotorBy (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
240 void moveMotorToEnc(
short number,
int encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
241 void moveMotorTo (
short number,
double radianAngle,
bool waitUntilReached =
false,
int waitTimeout = 0);
243 void waitForMotor(
short number,
int encoders,
int encTolerance = 100,
short mode = 0,
int waitTimeout = 5000);
248 void moveRobotToEnc(std::vector<int>::const_iterator start, std::vector<int>::const_iterator end,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
252 void moveRobotToEnc(std::vector<int> encoders,
bool waitUntilReached =
false,
int encTolerance = 100,
int waitTimeout = 0);
254 void moveRobotToEnc4D(std::vector<int> target,
int velocity=180,
int acceleration = 1,
int encTolerance = 100);
256 void openGripper (
bool waitUntilReached =
false,
int waitTimeout = 100);
257 void closeGripper(
bool waitUntilReached =
false,
int waitTimeout = 100);
260 void freezeMotor(
short number);
261 void switchRobotOn();
262 void switchRobotOff();
263 void switchMotorOn(
short number);
264 void switchMotorOff(
short number);
269 void startSplineMovement(
bool exactflag,
int moreflag = 1);
273 void startFourSplinesMovement(
bool exactflag);
278 void sendSplineToMotor(
unsigned short number,
short targetPosition,
short duration,
short p1,
short p2,
short p3,
short p4);
284 void sendFourSplinesToMotor(
unsigned short number,
short targetPosition,
short duration, std::vector<short>& coefficients);
285 void sendFourSplinesToMotor(
unsigned short number,
short targetPosition,
short duration,
short p01,
short p11,
short p21,
short p31,
short p02,
short p12,
short p22,
short p32,
short p03,
short p13,
short p23,
short p33,
short p04,
short p14,
short p24,
short p34);
int mKatanaType
The type of KatanaXXX (300 or 400)
CKatBase * base
base katana
Abstract base class for protocol definiton.
[SCT] every sens ctrl's attributes
ConfigFileOpenException(const std::string &port)
#define TM_ENDLESS
timeout symbol for 'endless' waiting
Exception(const std::string &message, const int error_number)
Calibration structure for single motors.
Inverse Kinematics structure of the endeffektor.
[MOT] every motor's attributes
CKatBase * GetBase()
Returns pointer to 'CKatBase*'.
Accessing the given configuration file failed (may be: access denied or wrong path) ...
Extended Katana class with additional functions.
[SCP] static controller parameters
[GNL] general robot attributes
int _gripperCloseEncoders
This class is for internal use only It may change at any time It shields the configuration file parsi...