Base Katana class. More...

#include <kmlBase.h>

Collaboration diagram for CKatBase:

Public Member Functions
const TKatGNL *	GetGNL ()
	Get a pointer to the desired structure.
const TKatMFW *	GetMFW ()
	Get a pointer to the desired structure.
const TKatIDS *	GetIDS ()
	Get a pointer to the desired structure.
const TKatCTB *	GetCTB ()
	Get a pointer to the desired structure.
const TKatCBX *	GetCBX ()
	Get a pointer to the desired structure.
const TKatECH *	GetECH ()
	Get a pointer to the desired structure.
const TKatMOT *	GetMOT ()
	Get a pointer to the desired structure.
const TKatSCT *	GetSCT ()
	Get a pointer to the desired structure.
TKatEFF *	GetEFF ()
	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
CCplBase *	getProtocol ()
	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
CCplBase *	protocol
	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]