rec::robotino::api2 C interface
Manipulator.h
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1 // Copyright (C) 2004-2008, Robotics Equipment Corporation GmbH
2 
3 #ifndef _REC_ROBOTINO_API2_C_MANIPULATOR_H_
4 #define _REC_ROBOTINO_API2_C_MANIPULATOR_H_
5 
6 #include "rec/robotino/api2/c/globals.h"
8 
18 typedef int ManipulatorId;
19 
21 #define INVALID_MANIPULATORID -1
22 
28 
34 DLLEXPORT BOOL Manipulator_destroy( ManipulatorId id );
35 
40 DLLEXPORT BOOL Manipulator_setComId( ManipulatorId id, ComId comId );
41 
47 DLLEXPORT BOOL Manipulator_grab( ManipulatorId id );
48 
78 DLLEXPORT BOOL Manipulator_getReadings(
79  ManipulatorId id,
80  unsigned int* seq,
81  float* angles,
82  unsigned int* numAngles,
83  float* speeds,
84  unsigned int* numSpeeds,
85  int* errors,
86  unsigned int* numErrors,
87  int* motors_enabled,
88  int* store_current_position,
89  float* cwAxesLimits,
90  unsigned int* numCwAxesLimits,
91  float* ccwAxesLimits,
92  unsigned int* numCcwAxesLimits
93  );
94 
103 DLLEXPORT BOOL Manipulator_setAxis( ManipulatorId id, unsigned int axis, float angle, float speed );
104 
114 DLLEXPORT BOOL Manipulator_setAxes( ManipulatorId id, const float* angles, unsigned int numAngles, const float* speeds, unsigned int numSpeeds );
115 
123 DLLEXPORT BOOL Manipulator_setPowerEnabled( ManipulatorId id, unsigned int channel, int enable );
124 
130 DLLEXPORT BOOL Manipulator_toggleTorque( ManipulatorId id );
131 
132 #endif //_REC_ROBOTINO_API2_C_MANIPULATOR_H_
DLLEXPORT BOOL Manipulator_setComId(ManipulatorId id, ComId comId)
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 ManipulatorId Manipulator_construct()
DLLEXPORT BOOL Manipulator_destroy(ManipulatorId id)
DLLEXPORT BOOL Manipulator_grab(ManipulatorId id)
DLLEXPORT BOOL Manipulator_toggleTorque(ManipulatorId id)
DLLEXPORT BOOL Manipulator_setAxes(ManipulatorId id, const float *angles, unsigned int numAngles, const float *speeds, unsigned int numSpeeds)
In "rec/robotino/api2/c/Com.h" you can find functions for manipulating the communication interface to...
DLLEXPORT BOOL Manipulator_setPowerEnabled(ManipulatorId id, unsigned int channel, int enable)
int ComId
Definition: Com.h:50
int ManipulatorId
Definition: Manipulator.h:18