KatanaNativeInterface $VERSION$

CKatBase Class Reference

Base Katana class. More...

#include <kmlBase.h>

Collaboration diagram for CKatBase:

List of all members.

Public Member Functions

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

Protected Attributes

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

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 ( ) [inline, virtual]

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
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

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

set collision position limits

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

set collision speed limits

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.

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: