C# Класс ControlSystem.Simulator

IRobot implementation using IUI output interface for simulating robot behavior.

Наследование: IRobot

Показать файл Открыть проект Примеры использования класса

Открытые методы

Метод	Описание
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

Приватные методы

Метод	Описание
initialization ( ) : bool	Initializes the robot to default values

Описание методов

Simulator() публичный Метод

Default constructor. Note: Uses console output as standard.

public Simulator ( ) : System
Результат	System

Speed() публичный Метод

Speed for future movements in percent

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

Time() публичный Метод

Time for future movements in miliseconds

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

closeGripper() публичный Метод

Close the gripper

public closeGripper ( ) : bool
Результат	bool

getCurrentPosition() публичный Метод

Gets current position

public getCurrentPosition ( ) : VecPoint
Результат	VecPoint

getCurrentPositionAsString() публичный Метод

public getCurrentPositionAsString ( ) : string
Результат	string

getJawOpeningWidthMilimeters() публичный Метод

Gets width of jaw opening in milimeters

public getJawOpeningWidthMilimeters ( ) : short
Результат	short

getJawOpeningWidthPercentage() публичный Метод

Gets width of jaw opening in percent

public getJawOpeningWidthPercentage ( ) : short
Результат	short

getWeight() публичный Метод

public getWeight ( ) : double
Результат	double

homeRobot() публичный Метод

Setting robot to start position

public homeRobot ( ) : bool
Результат	bool

isOnline() публичный Метод

Connect to the robot

public isOnline ( ) : bool
Результат	bool

moveBase() публичный Метод

Moving the base

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

moveByAbsoluteCoordinates() публичный Метод

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
Результат	bool

moveByCoordinates() публичный Метод

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
Результат	bool

moveByPitch() публичный Метод

Moves just pitch coordinate

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

moveByRelativeCoordinates() публичный Метод

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
Результат	bool

moveByRoll() публичный Метод

Moves just roll coordinate

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

moveByXCoordinate() публичный Метод

Moves just X coordinate

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

moveByYCoordinate() публичный Метод

Moves just Y coordinate

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

moveByZCoordinate() публичный Метод

Moves just Z coordinate

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

moveConveyerBelt() публичный Метод

Moving the Conveyer Belt

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

moveElbow() публичный Метод

Moving the elbow

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

moveGripper() публичный Метод

Moving the gripper

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

moveShoulder() публичный Метод

Moving the shoulder

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

moveToAPosition() публичный Метод

public moveToAPosition ( ) : bool
Результат	bool

moveToCubePosition() публичный Метод

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

moveWristPitch() публичный Метод

Moving the wrist Pitch

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

moveWristRoll() публичный Метод

Moving the Wrist Roll

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

movebyCoordinates() публичный Метод

Moves all coordinates

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

openGripper() публичный Метод

Opens the gripper

public openGripper ( ) : bool
Результат	bool

stopAllMovement() публичный Метод

Writes out that All movement is stopped

public stopAllMovement ( ) : bool
Результат	bool