grl.TeachMode Class Reference

Inheritance diagram for grl.TeachMode:

Collaboration diagram for grl.TeachMode:

Public Member Functions
boolean	cancel ()
void	enable ()
synchronized boolean	isEnableEnded ()
	true there are no outstanding calls made to enable() and you can switch modes More...
void	run ()
void	setLogger (ITaskLogger logger)
void	setTeachModeControlMode (JointImpedanceControlMode teachModeControlMode)
synchronized boolean	stop ()
	TeachMode (Tool flangeAttachment, double[] maxAllowedJoints, double[] minAllowedJoints)

Detailed Description

In TeachModeTest you will need to set boolean useTeachModeObject = false;

This object is supposed to make it easy to enable/disable teach mode with a single call to start() and stop() when you want to enable and disable teach mode.

Todo:

the method used to simulate teach mode is a little jumpy, needs to be improved.

Author

Andrew Hundt

Definition at line 30 of file TeachMode.java.

Constructor & Destructor Documentation

TeachMode()

grl.TeachMode.TeachMode ( Tool  flangeAttachment, double []  maxAllowedJoints, double []  minAllowedJoints  )

inline

Parameters

flangeAttachment
maxAllowedJoints
minAllowedJoints

Definition at line 52 of file TeachMode.java.

Member Function Documentation

cancel()

boolean grl.TeachMode.cancel ( )

inline

Cancel the motion, thread stays in existence.

Definition at line 95 of file TeachMode.java.

enable()

void grl.TeachMode.enable ( )

inline

Definition at line 72 of file TeachMode.java.

isEnableEnded()

synchronized boolean grl.TeachMode.isEnableEnded ( )

inline

true there are no outstanding calls made to enable() and you can switch modes

See also

enable()

The sunrise HandGuidingMotion mode has an API quirk where you need to push the physical button to end the hand guiding mode. This tells you if the motion is both over and the button has been pushed so the action is really truly complete.

Returns

true if you can switch modes now, false if someone still needs to press the physical button

Definition at line 124 of file TeachMode.java.

run()

void grl.TeachMode.run ( )

inline

Definition at line 139 of file TeachMode.java.

setLogger()

void grl.TeachMode.setLogger ( ITaskLogger  logger )

inline

Definition at line 60 of file TeachMode.java.

setTeachModeControlMode()

void grl.TeachMode.setTeachModeControlMode ( JointImpedanceControlMode  teachModeControlMode )

inline

Parameters

teachModeControlMode

Definition at line 68 of file TeachMode.java.

stop()

synchronized boolean grl.TeachMode.stop ( )

inline

Tell the hand guiding motion (teach mode) to stop and the thread exits. Make sure isEnableEnded returns true before calling this!

Returns

false on failure; true on successfully starting the shutdown process

Definition at line 85 of file TeachMode.java.

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The documentation for this class was generated from the following file:

• TeachMode.java