42 #define K400_OLD_PROTOCOL_THRESHOLD 1
44 #if !defined (BYTE_DECLARED)
46 typedef unsigned char byte;
150 public:
const TKatGNL* GetGNL() {
return &gnl; }
const TKatMFW* GetMFW() {
return &mfw; }
const TKatIDS* GetIDS() {
return &ids; }
const TKatCTB* GetCTB() {
return &ctb; }
const TKatCBX* GetCBX() {
return &cbx; }
const TKatECH* GetECH() {
return &ech; }
163 const TKatMOT* GetMOT() {
return &mot; }
const TKatSCT* GetSCT() {
return &sct; }
TKatEFF* GetEFF() {
return &eff; }
184 void recvMFW();
void recvIDS();
void recvCTB();
void recvGMS();
void recvCBX();
void recvECH();
void recvNMP();
void recvMPS();
204 int checkKatanaType(
int type);
205 void sendCBX(
const TKatCBX* _cbx);
218 void getMasterFirmware(
short* fw,
short* rev);
219 void enableCrashLimits();
void disableCrashLimits();
void unBlock();
230 void setCrashLimit(
long idx,
int limit);
233 void setPositionCollisionLimit(
long idx,
int limit);
236 void setSpeedCollisionLimit(
long idx,
int limit);
241 void startSplineMovement(
bool exactflag,
int moreflag = 1);
245 void startFourSplinesMovement(
bool exactflag);
246 void sendSLMP(
byte* p);
249 void sendSLM(
bool exactflag);
unsigned char byte
type specification (8 bit)
char modelName[255]
model name
double arr_segment[4]
length of the Katana segments
TKatMFW mfw
master's firmware version/revision
byte cmdtbl[256]
command table
Abstract base class for protocol definiton.
virtual ~CKatBase()
destructor
[SCT] every sens ctrl's attributes
TKatSCT sct
sensor controllers
short mMasterVersion
master version of robot we are communicating with
CCplBase * getProtocol()
get a handle of the protocol, used in CKatana
[CTB] command table defined in the firmware
short mMasterRevision
master firmware revision
Inverse Kinematics structure of the endeffektor.
[IDS] identification string
[MOT] every motor's attributes
[MFW] master firmware version/revision number
bool inp[2]
input: green & red LED
[GNL] general robot attributes
CCplBase * protocol
protocol interface
bool out[2]
output: green & red LED
TKatGNL gnl
katana general
unsigned char byte
type specification (8 bit)