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SUMMARY: INNER | FIELD | CONSTR | METHOD | DETAIL: FIELD | CONSTR | METHOD |
java.lang.Object | +--Armtty
A class to provide communication facilities to the real robot arm
Constructor Summary | |
Armtty()
Default constructor purpose : initialize the Armtty object |
Method Summary | |
boolean |
connect()
purpose : open the serial port to communicate with the robot arm |
boolean |
disconnect()
purpose : close the connection to the robot arm |
void |
grip(double width)
purpose : send the command GRIP to the port |
void |
home()
purpose : send the command HOME to the port |
void |
ma(double waist,
double shoulder,
double elbow,
double wrist,
double twist)
purpose : send the command MA to the port |
void |
ready()
purpose : send the command READY to the port |
void |
speed(int value)
purpose : send command SPEED to the port |
Methods inherited from class java.lang.Object |
clone,
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
public Armtty()
Method Detail |
public boolean connect()
public boolean disconnect()
public void home()
public void ready()
public void ma(double waist, double shoulder, double elbow, double wrist, double twist)
waist
- waist angle measured from horizonshoulder
- shoulder angle measured from horizonelbow
- elbow measured from horizonwrist
- wrist's bend angle measured from horizontwist
- wrist's twist anglepublic void grip(double width)
width
- width between two fingers of the gripperpublic void speed(int value)
value
- speed of the arm
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