Class ArmController

java.lang.Object
  |
  +--DHSystem
        |
        +--CRSPlusA150
              |
              +--ArmController

public class ArmController

extends CRSPlusA150

A class to communicate and control the real robot arm

Constructor Summary

ArmController()
Default constructor purpose : initialize the controller

Method Summary

boolean	connect() purpose : establish the connection to the arm
boolean	disconnect() purpose : close the connection to the arm
boolean	grip(double width) purpose : execute the command GRIP of the arm
void	home() purpose : execute the command HOME of the arm
boolean	ma(double waist, double shoulder, double elbow, double wrist, double twist) purpose : execute the command MA of the arm
boolean	madeg(double waist, double shoulder, double elbow, double wrist, double twist) purpose : execute the command MA of the arm
boolean	mi(double waist, double shoulder, double elbow, double wrist, double twist) purpose : execute the command MI of the arm
boolean	mideg(double waist, double shoulder, double elbow, double wrist, double twist) purpose : execute the command MI of the arm
void	move(double x0, double y0, double z0) to be implemented
void	ready() purpose : execute the command READY of the arm
boolean	speed(int value) purpose : execute the command SPEED of the arm

Methods inherited from class CRSPlusA150

degToRad, radToDeg

Methods inherited from class DHSystem

changeA, changeAlpha, changeD, changeTheta, getA, getAlpha, getD, getFramePosition, getTheta, getTransformation, reset, setDH

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ArmController

public ArmController()

Default constructor purpose : initialize the controller

Method Detail

connect

public boolean connect()

purpose : establish the connection to the arm

Returns:

true (succeed) or false (fail)

disconnect

public boolean disconnect()

purpose : close the connection to the arm

Returns:

true (succeed) or false (fail)

home

public void home()

purpose : execute the command HOME of the arm

Overrides:

home in class CRSPlusA150

ready

public void ready()

purpose : execute the command READY of the arm

Overrides:

ready in class CRSPlusA150

ma

public boolean ma(double waist,
                  double shoulder,
                  double elbow,
                  double wrist,
                  double twist)

purpose : execute the command MA of the arm

Parameters:

waist - waist angle in radian

shoulder - shoulder angle in radian

elbow - elbow angle in radian

wrist - wrist's bend angle in radian

twist - wrist's twist angle in radian

Returns:

true (succeed) or false (fail)

Overrides:

ma in class CRSPlusA150

madeg

public boolean madeg(double waist,
                     double shoulder,
                     double elbow,
                     double wrist,
                     double twist)

purpose : execute the command MA of the arm

Parameters:

waist - waist angle in degree

shoulder - shoulder angle in degree

elbow - elbow angle in degree

wrist - wrist's bend angle in degree

twist - wrist's twist angle in degree

Returns:

true (succeed) or false (fail)

Overrides:

madeg in class CRSPlusA150

mi

public boolean mi(double waist,
                  double shoulder,
                  double elbow,
                  double wrist,
                  double twist)

purpose : execute the command MI of the arm

Parameters:

waist - increment of waist angle in radian

shoulder - increment of shoulder angle in radian

elbow - increment of elbow angle in radian

wrist - increment of wrist's bend angle in radian

twist - increment of wrist's twist angle in radian

Returns:

true (succeed) or false (fail)

Overrides:

mi in class CRSPlusA150

mideg

public boolean mideg(double waist,
                     double shoulder,
                     double elbow,
                     double wrist,
                     double twist)

purpose : execute the command MI of the arm

Parameters:

waist - increment of waist angle in degree

shoulder - increment of shoulder angle in degree

elbow - increment of elbow angle in degree

wrist - increment of wrist's bend angle in degree

twist - increment of wrist's twist angle in degree

Returns:

true (succeed) or false (fail)

Overrides:

mideg in class CRSPlusA150

move

public void move(double x0,
                 double y0,
                 double z0)

to be implemented

Overrides:

move in class CRSPlusA150

grip

public boolean grip(double width)

purpose : execute the command GRIP of the arm

Parameters:

width - width between the fingers of the gripper in inch

Returns:

true (succeed) or false (fail)

Overrides:

grip in class CRSPlusA150

speed

public boolean speed(int value)

purpose : execute the command SPEED of the arm

Parameters:

value - speed of the arm

Returns:

true (succeed) or false (fail)

Overrides:

speed in class CRSPlusA150