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