Base Katana class. More...

#include <kmlBase.h>

Collaboration diagram for CKatBase:

Public Member Functions
const TKatGNL *	GetGNL ()
	Get a pointer to the desired structure. More...

const TKatMFW *	GetMFW ()
	Get a pointer to the desired structure. More...

const TKatIDS *	GetIDS ()
	Get a pointer to the desired structure. More...

const TKatCTB *	GetCTB ()
	Get a pointer to the desired structure. More...

const TKatCBX *	GetCBX ()
	Get a pointer to the desired structure. More...

const TKatECH *	GetECH ()
	Get a pointer to the desired structure. More...

const TKatMOT *	GetMOT ()
	Get a pointer to the desired structure. More...

const TKatSCT *	GetSCT ()
	Get a pointer to the desired structure. More...

TKatEFF *	GetEFF ()
	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...

CCplBase *	getProtocol ()
	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...

CCplBase *	protocol
	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::CKatBase ( )

inline

Definition at line 172 of file kmlBase.h.

◆ ~CKatBase()

virtual CKatBase::~CKatBase ( )

inlinevirtual

destructor

Definition at line 175 of file kmlBase.h.

Member Function Documentation

◆ checkKatanaType()

int CKatBase::checkKatanaType ( int type )

checks for a K300 or K400

◆ disableCrashLimits()

void CKatBase::disableCrashLimits ( )

crash limits disable

◆ enableCrashLimits()

void CKatBase::enableCrashLimits ( )

crash limits enable

◆ GetCBX()

const TKatCBX* CKatBase::GetCBX ( )

inline

Get a pointer to the desired structure.

Definition at line 160 of file kmlBase.h.

◆ GetCTB()

const TKatCTB* CKatBase::GetCTB ( )

inline

Get a pointer to the desired structure.

Definition at line 158 of file kmlBase.h.

◆ GetECH()

const TKatECH* CKatBase::GetECH ( )

inline

Get a pointer to the desired structure.

Definition at line 162 of file kmlBase.h.

◆ GetEFF()

TKatEFF* CKatBase::GetEFF ( )

inline

Get a pointer to the desired structure.

Definition at line 169 of file kmlBase.h.

◆ GetGNL()

const TKatGNL* CKatBase::GetGNL ( )

inline

Get a pointer to the desired structure.

Definition at line 152 of file kmlBase.h.

◆ GetIDS()

const TKatIDS* CKatBase::GetIDS ( )

inline

Get a pointer to the desired structure.

Definition at line 156 of file kmlBase.h.

◆ getMasterFirmware()

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.

◆ GetMFW()

const TKatMFW* CKatBase::GetMFW ( )

inline

Get a pointer to the desired structure.

Definition at line 154 of file kmlBase.h.

◆ GetMOT()

const TKatMOT* CKatBase::GetMOT ( )

inline

Get a pointer to the desired structure.

Definition at line 165 of file kmlBase.h.

◆ getProtocol()

CCplBase* CKatBase::getProtocol ( )

inline

get a handle of the protocol, used in CKatana

Definition at line 202 of file kmlBase.h.

◆ GetSCT()

const TKatSCT* CKatBase::GetSCT ( )

inline

Get a pointer to the desired structure.

Definition at line 167 of file kmlBase.h.

◆ init()

virtual bool CKatBase::init	(	const TKatGNL	_gnl,
		const TKatMOT	_mot,
		const TKatSCT	_sct,
		const TKatEFF	_eff,
		CCplBase *	_protocol
	)

virtual

Parameters

_gnl	general attributes
_mot	motor attributes
_sct	sensor controller attributes
_eff	end effector attributes
_protocol	desired protocol

◆ recvCBX()

void CKatBase::recvCBX ( )

receive data

◆ recvCTB()

void CKatBase::recvCTB ( )

receive data

◆ recvECH()

void CKatBase::recvECH ( )

receive data

◆ recvGMS()

void CKatBase::recvGMS ( )

receive data

◆ recvIDS()

void CKatBase::recvIDS ( )

receive data

◆ recvMFW()

void CKatBase::recvMFW ( )

receive data

◆ recvMPS()

void CKatBase::recvMPS ( )

read all motor positions simultaneously

◆ recvNMP()

void CKatBase::recvNMP ( )

receive data

◆ sendCBX()

void CKatBase::sendCBX ( const TKatCBX * _cbx )

send data

◆ sendSLM()

void CKatBase::sendSLM ( bool exactflag )

linear movements

◆ sendSLMP()

void CKatBase::sendSLMP ( byte * p )

linear movements

◆ sendTPSP()

void CKatBase::sendTPSP ( )

parallel movements

deprecated: for use with old Katana5M only

◆ setCrashLimit()

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

set collision limits

//deprecated, use speed & position

◆ setPositionCollisionLimit()

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

set collision position limits

◆ setSpeedCollisionLimit()

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

set collision speed limits

◆ startFourSplinesMovement()

void CKatBase::startFourSplinesMovement ( bool exactflag )

Start a fourSplines movement.

Parameters

exactflag Set it to true if you want the position controller activated after the movement

◆ startSplineMovement()

void CKatBase::startSplineMovement	(	bool	exactflag,
		int	moreflag = `1`
	)

Start a spline movement.

Parameters

exactflag	Set it to true if you want the position controller activated after the movement
moreflag	0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following

◆ unBlock()

void CKatBase::unBlock ( )

unblock robot after a crash

Member Data Documentation

◆ cbx

TKatCBX CKatBase::cbx

protected

connector box

Definition at line 139 of file kmlBase.h.

◆ ctb

TKatCTB CKatBase::ctb

protected

cmd table

Definition at line 138 of file kmlBase.h.

◆ ech

TKatECH CKatBase::ech

protected

echo

Definition at line 140 of file kmlBase.h.

◆ eff

TKatEFF CKatBase::eff

protected

end effector

Definition at line 144 of file kmlBase.h.

◆ gnl

TKatGNL CKatBase::gnl

protected

katana general

Definition at line 135 of file kmlBase.h.

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

◆ ids

TKatIDS CKatBase::ids

protected

ID string.

Definition at line 137 of file kmlBase.h.

◆ mfw

TKatMFW CKatBase::mfw

protected

master's firmware version/revision

Definition at line 136 of file kmlBase.h.

◆ mMasterRevision

short CKatBase::mMasterRevision

protected

master firmware revision

Definition at line 148 of file kmlBase.h.

◆ mMasterVersion

short CKatBase::mMasterVersion

protected

master version of robot we are communicating with

Definition at line 147 of file kmlBase.h.

◆ mot

TKatMOT CKatBase::mot

protected

motors

Definition at line 142 of file kmlBase.h.

◆ protocol

CCplBase* CKatBase::protocol

protected

protocol interface

Definition at line 146 of file kmlBase.h.

◆ sct

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:

include/KNI/kmlBase.h

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CKatBase()

◆ ~CKatBase()

Member Function Documentation

◆ checkKatanaType()

◆ disableCrashLimits()

◆ enableCrashLimits()

◆ GetCBX()

◆ GetCTB()

◆ GetECH()

◆ GetEFF()

◆ GetGNL()

◆ GetIDS()

◆ getMasterFirmware()

◆ GetMFW()

◆ GetMOT()

◆ getProtocol()

◆ GetSCT()

◆ init()

◆ recvCBX()

◆ recvCTB()

◆ recvECH()

◆ recvGMS()

◆ recvIDS()

◆ recvMFW()

◆ recvMPS()

◆ recvNMP()

◆ sendCBX()

◆ sendSLM()

◆ sendSLMP()

◆ sendTPSP()

◆ setCrashLimit()

◆ setPositionCollisionLimit()

◆ setSpeedCollisionLimit()

◆ startFourSplinesMovement()

◆ startSplineMovement()

◆ unBlock()

Member Data Documentation

◆ cbx

◆ ctb

◆ ech

◆ eff

◆ gnl

◆ ids

◆ mfw

◆ mMasterRevision

◆ mMasterVersion

◆ mot

◆ protocol

◆ sct