Home Resources CS294B/CS294WPlayer/Stage Player 1.6.5 Manual STAIR CVS

ArmInterface Class Reference #include <ArmInterface.h> Inherited by ArmServer. List of all members. Detailed Description Interface for the server side implementation. Public Methods virtual int  calibrateB ()=0   blocking calibration procedure virtual int  singleJointMoveNB (int m, double targetAngleDeg)=0   non-blocking single joint move to a specified target virtual int  jointAngleMoveNB (jointAnglesType j)=0   non-blocking move to the specified target joint coordinates virtual int  opMoveNB (opCoordinatesType o)=0   non-blocking move to specified target operational coordinates virtual void  opTrajectoryMoveB (opCoordinatesType o)=0   blocking trajectory move (cyllindrical arc) given by op coordinates. virtual void  rzMoveB (double delta_r, double delta_z)=0   blocking move that does not alter state of motors 0, 4, 5 virtual void  stopMotion ()=0   stops all motion (will not work during calibration) virtual void  motorOff (int m)=0   Turns off motor m. virtual void  motorOn (int m)=0   Turns on motor m. virtual double  getJointAngle (int m)=0   Current angle in degree for joint m. virtual armDataType  readArmData ()=0   Reading arm data. Member Function Documentation virtual int ArmInterface::calibrateB (    )  [pure virtual]   blocking calibration procedure performs initial calibration. This shuld be the very first function to be called. blocks all further implementations till the calibration is complete \retrun 0 if success Implemented in ArmServer. virtual int ArmInterface::singleJointMoveNB (  int    m, double    targetAngleDeg )  [pure virtual]   non-blocking single joint move to a specified target Parameters: m  joint number targetAngleDeg  target angle in degree Returns : 0 if success Implemented in ArmServer. virtual int ArmInterface::jointAngleMoveNB (  jointAnglesType    j )  [pure virtual]   non-blocking move to the specified target joint coordinates Returns : 0 if success Implemented in ArmServer. virtual int ArmInterface::opMoveNB (  opCoordinatesType    o )  [pure virtual]   non-blocking move to specified target operational coordinates Returns : 0 if success Implemented in ArmServer. virtual void ArmInterface::opTrajectoryMoveB (  opCoordinatesType    o )  [pure virtual]   blocking trajectory move (cyllindrical arc) given by op coordinates. blocks further implementation till the motion is complete motion can be stopped by keyboard interruption Implemented in ArmServer. virtual void ArmInterface::rzMoveB (  double    delta_r, double    delta_z )  [pure virtual]   blocking move that does not alter state of motors 0, 4, 5 Motion that increases current r and z by specified values while keeping the motion in r-z plane only blocks further implementation till the movement is complete motion can be stopped by keyboard interruption Parameters: delta_r  amount by which r is to changed delta_z  amount by which z is to be changed Implemented in ArmServer. virtual void ArmInterface::stopMotion (    )  [pure virtual]   stops all motion (will not work during calibration) Implemented in ArmServer. virtual void ArmInterface::motorOff (  int    m )  [pure virtual]   Turns off motor m. Implemented in ArmServer. virtual void ArmInterface::motorOn (  int    m )  [pure virtual]   Turns on motor m. Implemented in ArmServer. virtual double ArmInterface::getJointAngle (  int    m )  [pure virtual]   Current angle in degree for joint m. Implemented in ArmServer. virtual armDataType ArmInterface::readArmData (    )  [pure virtual]   Reading arm data. The documentation for this class was generated from the following file: ArmInterface.h