Manipulator.h File Reference

In "rec/robotino/api2/c/Manipulator.h" you can find functions for controlling Robotino's manipulator. More...

#include "rec/robotino/api2/c/globals.h"
#include "rec/robotino/api2/c/Com.h"

Go to the source code of this file.

Macros
#define	INVALID_MANIPULATORID   -1

Typedefs
typedef int	ManipulatorId

Functions
DLLEXPORT ManipulatorId	Manipulator_construct ()
DLLEXPORT BOOL	Manipulator_destroy (ManipulatorId id)
DLLEXPORT BOOL	Manipulator_setComId (ManipulatorId id, ComId comId)
DLLEXPORT BOOL	Manipulator_grab (ManipulatorId id)
DLLEXPORT BOOL	Manipulator_getReadings (ManipulatorId id, unsigned int *seq, float *angles, unsigned int *numAngles, float *speeds, unsigned int *numSpeeds, int *errors, unsigned int *numErrors, int *motors_enabled, int *store_current_position, float *cwAxesLimits, unsigned int *numCwAxesLimits, float *ccwAxesLimits, unsigned int *numCcwAxesLimits)
DLLEXPORT BOOL	Manipulator_setAxis (ManipulatorId id, unsigned int axis, float angle, float speed)
DLLEXPORT BOOL	Manipulator_setAxes (ManipulatorId id, const float *angles, unsigned int numAngles, const float *speeds, unsigned int numSpeeds)
DLLEXPORT BOOL	Manipulator_setPowerEnabled (ManipulatorId id, unsigned int channel, int enable)
DLLEXPORT BOOL	Manipulator_toggleTorque (ManipulatorId id)

Detailed Description

In "rec/robotino/api2/c/Manipulator.h" you can find functions for controlling Robotino's manipulator.

Use Manipulator_construct() to create a new manipulator object. Associate the manipulator object with a com object using Manipulator_setComId(). Use Manipulator_setAxis() to drive one axis to the desired position. Use Manipulator_getReadings() to get sensor readings from Robotino's manipulator.

Macro Definition Documentation

#define INVALID_MANIPULATORID   -1

Invalid ManipulatorId is -1

Typedef Documentation

typedef int ManipulatorId

ManipulatorId

Function Documentation

DLLEXPORT ManipulatorId Manipulator_construct

(

)

Construct an Manipulator object

Returns

Returns the ID of the newly constructed Manipulator object.

DLLEXPORT BOOL Manipulator_destroy

(

ManipulatorId

id

)

Destroy the Manipulator object assigned to id

Parameters

id	The id of the Manipulator object to be destroyed

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

DLLEXPORT BOOL Manipulator_getReadings	(	ManipulatorId	id,
		unsigned int *	seq,
		float *	angles,
		unsigned int *	numAngles,
		float *	speeds,
		unsigned int *	numSpeeds,
		int *	errors,
		unsigned int *	numErrors,
		int *	motors_enabled,
		int *	store_current_position,
		float *	cwAxesLimits,
		unsigned int *	numCwAxesLimits,
		float *	ccwAxesLimits,
		unsigned int *	numCcwAxesLimits
	)

Get readings from Robotino's manipulator. Do not forget to call Manipulator_grab first. Conditions to be met:

• sizeof(angles) must be 9*sizeof(float)
• sizeof(speeds) must be 9*sizeof(float)
• sizeof(cwAxesLimits) must be 9*sizeof(float)
• sizeof(ccwAxesLimits) must be 9*sizeof(float) Simply create array like float angles[9]; float speeds[9]; float cwAxesLimits[9]; float ccwAxesLimits[9];

  Parameters

  id	The manipulator id.
  seq	The sequenze number.
  angles	Array storing the current axes positions in degrees.
  numAngles	The number of elemets stored in angles. This is equal to the number of axes.
  speeds	Array storing the current axes speeds in rpm.
  numSpeeds	The number of elemets stored in speeds. This is equal to the number of axes.
  errors	Error code of axes.
  numErrors	The number of elemets stored in errors. This is equal to the number of axes.
  motors_enabled	Is 1 if the motors are enabled. Otherwise 0.
  store_current_position	Is 1 if the store position button is pressed. Otherwise 0.
  cwAxesLimits	Array storing the current axes limits in degrees.
  numCwAxesLimits	The number of elemets stored in cwAxesLimits. If axes limits had been received this is equal to the number of axes. Otherwise 0.
  ccwAxesLimits	Array storing the current axes limits in degrees.
  numCcwAxesLimits	The number of elemets stored in ccwAxesLimits. If axes limits had been received this is equal to the number of axes. Otherwise 0.

  Returns

  Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

  See also

  Manipulator_grab

DLLEXPORT BOOL Manipulator_grab

(

ManipulatorId

id

)

Grab image.

Parameters

id	The manipulator id.

Returns

Returns TRUE (1) if a new sensor readings are available since the last call of Manipulator_grab. Returns FALSE (0) otherwise.

DLLEXPORT BOOL Manipulator_setAxes	(	ManipulatorId	id,
		const float *	angles,
		unsigned int	numAngles,
		const float *	speeds,
		unsigned int	numSpeeds
	)

Set position and speed of one axis.

Parameters

id	The manipulator id.
angles	Array containing the set-points in deg
numAngles	Number of elements in angles
speeds	Array containing the speed set-points in rpm
numSpeeds	Number of elements in speeds

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

DLLEXPORT BOOL Manipulator_setAxis	(	ManipulatorId	id,
		unsigned int	axis,
		float	angle,
		float	speed
	)

Set position and speed of one axis.

Parameters

id	The manipulator id.
axis	Axis number. Axes are counted starting with 0.
angle	This is the position set-point in deg
speed	This is the speed set-point in rpm

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

DLLEXPORT BOOL Manipulator_setComId	(	ManipulatorId	id,
		ComId	comId
	)

Associated an Manipulator object with a communication interface, i.e. binding the Manipulator to a specific Robotino

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

DLLEXPORT BOOL Manipulator_setPowerEnabled	(	ManipulatorId	id,
		unsigned int	channel,
		int	enable
	)

Enabled/Disable power of one channel

Parameters

id	The manipulator id.
channel	The channel at which to enable/disable power.
enable	If 1 power is enabled. 0 to disable power

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.

DLLEXPORT BOOL Manipulator_toggleTorque

(

ManipulatorId

id

)

Toggle the power state of all servos' motors.

Parameters

id	The manipulator id.

Returns

Returns TRUE (1) on success. Returns FALSE (0) if the given ManipulatorId is invalid.