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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--DHSystem | +--CRSPlusA150 | +--ArmController
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 |
public ArmController()
Method Detail |
public boolean connect()
public boolean disconnect()
public void home()
public void ready()
public boolean ma(double waist, double shoulder, double elbow, double wrist, double twist)
waist
- waist angle in radianshoulder
- shoulder angle in radianelbow
- elbow angle in radianwrist
- wrist's bend angle in radiantwist
- wrist's twist angle in radianpublic boolean madeg(double waist, double shoulder, double elbow, double wrist, double twist)
waist
- waist angle in degreeshoulder
- shoulder angle in degreeelbow
- elbow angle in degreewrist
- wrist's bend angle in degreetwist
- wrist's twist angle in degreepublic boolean mi(double waist, double shoulder, double elbow, double wrist, double twist)
waist
- increment of waist angle in radianshoulder
- increment of shoulder angle in radianelbow
- increment of elbow angle in radianwrist
- increment of wrist's bend angle in radiantwist
- increment of wrist's twist angle in radianpublic boolean mideg(double waist, double shoulder, double elbow, double wrist, double twist)
waist
- increment of waist angle in degreeshoulder
- increment of shoulder angle in degreeelbow
- increment of elbow angle in degreewrist
- increment of wrist's bend angle in degreetwist
- increment of wrist's twist angle in degreepublic void move(double x0, double y0, double z0)
public boolean grip(double width)
width
- width between the fingers of the gripper in inchpublic boolean speed(int value)
value
- speed of the arm
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