C# Class ControlSystem.Simulator

IRobot implementation using IUI output interface for simulating robot behavior.

Inheritance: IRobot

Show file Open project: syre/SortingIndustrialRobot Class Usage Examples

Public Methods

Method	Description
Simulator ( ) : System	Default constructor. Note: Uses console output as standard.
Speed ( Wrapper _bGroup, long _mSpeed ) : bool	Speed for future movements in percent
Time ( Wrapper _bGroup, long _mTime ) : bool	Time for future movements in miliseconds
closeGripper ( ) : bool	Close the gripper
getCurrentPosition ( ) : VecPoint	Gets current position
getCurrentPositionAsString ( ) : string
getJawOpeningWidthMilimeters ( ) : short	Gets width of jaw opening in milimeters
getJawOpeningWidthPercentage ( ) : short	Gets width of jaw opening in percent
getWeight ( ) : double
homeRobot ( ) : bool	Setting robot to start position
isOnline ( ) : bool	Connect to the robot
moveBase ( int speed ) : bool	Moving the base
moveByAbsoluteCoordinates ( string name, int x, int y, int z, int pitch, int roll ) : bool	Moving from the absolute position (home position)
moveByCoordinates ( int _x, int _y, int _z, int _pitch, int _roll ) : bool	Function for moving by coordinates
moveByPitch ( int pitch ) : bool	Moves just pitch coordinate
moveByRelativeCoordinates ( string name, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool	Moving from the relative position (current position)
moveByRoll ( int roll ) : bool	Moves just roll coordinate
moveByXCoordinate ( int x ) : bool	Moves just X coordinate
moveByYCoordinate ( int y ) : bool	Moves just Y coordinate
moveByZCoordinate ( int z ) : bool	Moves just Z coordinate
moveConveyerBelt ( int speed ) : bool	Moving the Conveyer Belt
moveElbow ( int speed ) : bool	Moving the elbow
moveGripper ( int speed ) : bool	Moving the gripper
moveShoulder ( int speed ) : bool	Moving the shoulder
moveToAPosition ( ) : bool
moveToCubePosition ( string name, int _iCubeID ) : bool
moveWristPitch ( int speed ) : bool	Moving the wrist Pitch
moveWristRoll ( int speed ) : bool	Moving the Wrist Roll
movebyCoordinates ( int _iX, int _iY, int _iZ ) : bool	Moves all coordinates
openGripper ( ) : bool	Opens the gripper
stopAllMovement ( ) : bool	Writes out that All movement is stopped

Private Methods

Method	Description
initialization ( ) : bool	Initializes the robot to default values

Method Details

Simulator() public method

Default constructor. Note: Uses console output as standard.

public Simulator ( ) : System
return	System

Speed() public method

Speed for future movements in percent

public Speed ( Wrapper _bGroup, long _mSpeed ) : bool
_bGroup	Wrapper	Part of the robot
_mSpeed	long	Value for speed
return	bool

Time() public method

Time for future movements in miliseconds

public Time ( Wrapper _bGroup, long _mTime ) : bool
_bGroup	Wrapper	Part of the robot
_mTime	long	Value for time
return	bool

closeGripper() public method

Close the gripper

public closeGripper ( ) : bool
return	bool

getCurrentPosition() public method

Gets current position

public getCurrentPosition ( ) : VecPoint
return	VecPoint

getCurrentPositionAsString() public method

public getCurrentPositionAsString ( ) : string
return	string

getJawOpeningWidthMilimeters() public method

Gets width of jaw opening in milimeters

public getJawOpeningWidthMilimeters ( ) : short
return	short

getJawOpeningWidthPercentage() public method

Gets width of jaw opening in percent

public getJawOpeningWidthPercentage ( ) : short
return	short

getWeight() public method

public getWeight ( ) : double
return	double

homeRobot() public method

Setting robot to start position

public homeRobot ( ) : bool
return	bool

isOnline() public method

Connect to the robot

public isOnline ( ) : bool
return	bool

moveBase() public method

Moving the base

public moveBase ( int speed ) : bool
speed	int	speed
return	bool

moveByAbsoluteCoordinates() public method

Moving from the absolute position (home position)

public moveByAbsoluteCoordinates ( string name, int x, int y, int z, int pitch, int roll ) : bool
name	string
x	int	Parameter is of which x coordinate to use
y	int	Parameter is of which y coordinate to use
z	int	Parameter is of which z coordinate to use
pitch	int	Parameter is of which pitch to use
roll	int	Parameter is of which roll to use
return	bool

moveByCoordinates() public method

Function for moving by coordinates

public moveByCoordinates ( int _x, int _y, int _z, int _pitch, int _roll ) : bool
_x	int	x-coordinate
_y	int	y-coordinate
_z	int	z-coordinate
_pitch	int	pitch robot arm
_roll	int	roll of robot arm
return	bool

moveByPitch() public method

Moves just pitch coordinate

public moveByPitch ( int pitch ) : bool
pitch	int	value for the pitch coordinate
return	bool

moveByRelativeCoordinates() public method

Moving from the relative position (current position)

public moveByRelativeCoordinates ( string name, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
name	string
_iX	int	Parameter of which x coordinate to use
_iY	int	Parameter of which y coordinate to use
_iZ	int	Parameter of which z coordinate to use
_iPitch	int	Parameter of which Pitch to use
_iRoll	int	Parameter of which Roll to use
return	bool

moveByRoll() public method

Moves just roll coordinate

public moveByRoll ( int roll ) : bool
roll	int	value for the roll coordinate
return	bool

moveByXCoordinate() public method

Moves just X coordinate

public moveByXCoordinate ( int x ) : bool
x	int	value for the x coordinate
return	bool

moveByYCoordinate() public method

Moves just Y coordinate

public moveByYCoordinate ( int y ) : bool
y	int	value for the y coordinate
return	bool

moveByZCoordinate() public method

Moves just Z coordinate

public moveByZCoordinate ( int z ) : bool
z	int	value for the z coordinate
return	bool

moveConveyerBelt() public method

Moving the Conveyer Belt

public moveConveyerBelt ( int speed ) : bool
speed	int	speed
return	bool

moveElbow() public method

Moving the elbow

public moveElbow ( int speed ) : bool
speed	int	speed
return	bool

moveGripper() public method

Moving the gripper

public moveGripper ( int speed ) : bool
speed	int	speed
return	bool

moveShoulder() public method

Moving the shoulder

public moveShoulder ( int speed ) : bool
speed	int	speed
return	bool

moveToAPosition() public method

public moveToAPosition ( ) : bool
return	bool

moveToCubePosition() public method

public moveToCubePosition ( string name, int _iCubeID ) : bool
name	string
_iCubeID	int
return	bool

moveWristPitch() public method

Moving the wrist Pitch

public moveWristPitch ( int speed ) : bool
speed	int	speed
return	bool

moveWristRoll() public method

Moving the Wrist Roll

public moveWristRoll ( int speed ) : bool
speed	int	speed
return	bool

movebyCoordinates() public method

Moves all coordinates

public movebyCoordinates ( int _iX, int _iY, int _iZ ) : bool
_iX	int
_iY	int
_iZ	int
return	bool

openGripper() public method

Opens the gripper

public openGripper ( ) : bool
return	bool

stopAllMovement() public method

Writes out that All movement is stopped

public stopAllMovement ( ) : bool
return	bool