C# Class ControlSystem.Robot

IRobot implementation using the SCORBOT for operations.

Inheritance: IRobot

Datei anzeigen Open project: syre/SortingIndustrialRobot Class Usage Examples

Public Methods

Method	Description
Robot ( ) : System	gets an instance of the wrapper, runs initialization method, enables movement control for the AXIS_Robot and homes the robot
Speed ( Wrapper _bGroup, long _mSpeed ) : bool
Time ( Wrapper _bGroup, long _mTime ) : bool
closeGripper ( ) : bool
defineRelativeVector ( RelCoordSirVector rel ) : bool
defineVector ( SIRVector sir ) : bool
getCurrentPosition ( ) : VecPoint
getCurrentPositionAsString ( ) : string
getJawOpeningWidthMilimeters ( ) : short
getJawOpeningWidthPercentage ( ) : short
getWeight ( ) : double
homeRobot ( ) : bool
isOnline ( ) : bool
moveBase ( int _iSpeed ) : bool
moveByAbsoluteCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
moveByAbsoluteVector ( AbsCoordSirVector abs ) : bool
moveByPitch ( int _pitch ) : bool
moveByRelativeCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
moveByRelativeVector ( RelCoordSirVector rel ) : bool
moveByRoll ( int _roll ) : bool
moveByXCoordinate ( int _iX ) : bool
moveByYCoordinate ( int _iY ) : bool
moveByZCoordinate ( int _iZ ) : bool
moveConveyerBelt ( int _iSpeed ) : bool
moveElbow ( int _iSpeed ) : bool
moveGripper ( int _iSpeed ) : bool
moveLinear ( string vectorname, int pointindex ) : bool
moveShoulder ( int _iSpeed ) : bool
moveToAPosition ( ) : bool
moveToCubePosition ( string vectorname, int _iCubeID ) : bool
moveWristPitch ( int _iSpeed ) : bool
moveWristRoll ( int _iSpeed ) : bool
openGripper ( ) : bool
stopAllMovement ( ) : bool
teach ( SIRVector vector ) : bool

Private Methods

Method	Description
digitalInputChanged ( long l ) : void
homeEvent ( byte &_bArg ) : void
initError ( IntPtr _iptrArg ) : void
initSuccess ( IntPtr _iptrArg ) : void
initialization ( ) : void
releaseMovementLock ( byte &b ) : void	Method to be called when the robot stops its movement.
takeMovementLock ( byte &b ) : void	Method to be called when the robot starts its movement. EDIT: Implemented in each move-method instead (DUMMY)

Method Details

Robot() public method

gets an instance of the wrapper, runs initialization method, enables movement control for the AXIS_Robot and homes the robot

public Robot ( ) : System
return	System

Speed() public method

public Speed ( Wrapper _bGroup, long _mSpeed ) : bool
_bGroup	Wrapper
_mSpeed	long
return	bool

Time() public method

public Time ( Wrapper _bGroup, long _mTime ) : bool
_bGroup	Wrapper
_mTime	long
return	bool

closeGripper() public method

public closeGripper ( ) : bool
return	bool

defineRelativeVector() public method

public defineRelativeVector ( RelCoordSirVector rel ) : bool
rel	RelCoordSirVector
return	bool

defineVector() public method

public defineVector ( SIRVector sir ) : bool
sir	SIRVector
return	bool

getCurrentPosition() public method

public getCurrentPosition ( ) : VecPoint
return	VecPoint

getCurrentPositionAsString() public method

public getCurrentPositionAsString ( ) : string
return	string

getJawOpeningWidthMilimeters() public method

public getJawOpeningWidthMilimeters ( ) : short
return	short

getJawOpeningWidthPercentage() public method

public getJawOpeningWidthPercentage ( ) : short
return	short

getWeight() public method

public getWeight ( ) : double
return	double

homeRobot() public method

public homeRobot ( ) : bool
return	bool

isOnline() public method

public isOnline ( ) : bool
return	bool

moveBase() public method

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

moveByAbsoluteCoordinates() public method

public moveByAbsoluteCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
vectorname	string
_iX	int
_iY	int
_iZ	int
_iPitch	int
_iRoll	int
return	bool

moveByAbsoluteVector() public method

public moveByAbsoluteVector ( AbsCoordSirVector abs ) : bool
abs	AbsCoordSirVector
return	bool

moveByPitch() public method

public moveByPitch ( int _pitch ) : bool
_pitch	int
return	bool

moveByRelativeCoordinates() public method

public moveByRelativeCoordinates ( string vectorname, int _iX, int _iY, int _iZ, int _iPitch, int _iRoll ) : bool
vectorname	string
_iX	int
_iY	int
_iZ	int
_iPitch	int
_iRoll	int
return	bool

moveByRelativeVector() public method

public moveByRelativeVector ( RelCoordSirVector rel ) : bool
rel	RelCoordSirVector
return	bool

moveByRoll() public method

public moveByRoll ( int _roll ) : bool
_roll	int
return	bool

moveByXCoordinate() public method

public moveByXCoordinate ( int _iX ) : bool
_iX	int
return	bool

moveByYCoordinate() public method

public moveByYCoordinate ( int _iY ) : bool
_iY	int
return	bool

moveByZCoordinate() public method

public moveByZCoordinate ( int _iZ ) : bool
_iZ	int
return	bool

moveConveyerBelt() public method

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

moveElbow() public method

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

moveGripper() public method

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

moveLinear() public method

public moveLinear ( string vectorname, int pointindex ) : bool
vectorname	string
pointindex	int
return	bool

moveShoulder() public method

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

moveToAPosition() public method

public moveToAPosition ( ) : bool
return	bool

moveToCubePosition() public method

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

moveWristPitch() public method

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

moveWristRoll() public method

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

openGripper() public method

public openGripper ( ) : bool
return	bool

stopAllMovement() public method

public stopAllMovement ( ) : bool
return	bool

teach() public method

public teach ( SIRVector vector ) : bool
vector	SIRVector
return	bool