Inheritance diagram for grl.driver.GRL_Driver:
Collaboration diagram for grl.driver.GRL_Driver:
Public Member Functions | |
| AbstractMotionControlMode | getMotionControlMode (byte controlMode) |
| void | initialize () |
| void | run () |
Static Public Member Functions | |
| static void | main (final String[] args) |
Detailed Description
Creates a FRI Session.
Definition at line 79 of file GRL_Driver.java.
Member Function Documentation
§ getMotionControlMode()
|
inline |
Initialize the appropriate control mode based on passed parameters
- Parameters
-
controlMode grl.flatbuffer.EControlMode
- Returns
- Note
- setMaxCartesianVelocity STOPS THE ROBOT ABOVE THAT VELOCITY RATHER THAN CAPPING THE VELOCITY
Definition at line 681 of file GRL_Driver.java.
§ initialize()
|
inline |
Definition at line 141 of file GRL_Driver.java.
§ main()
|
inlinestatic |
§ run()
|
inline |
TODO: Get any configuration updates here and apply them
TODO: Only change configuration when it changes, not every time
TODO: perhaps it is possible commands won't actually be sent and that will still be valid, modify this if statement to deal with that
Sending commands back to the C++ interface here Reading sensor values from Java Interface and sending them thrugh UDP
Note: Be aware that calls like this get data from the realtime system and are very slow, adding about 2ms each.
- Todo:
- TODO(ahundt) Move to another thread, this may help avoid the slowdown detailed above
Definition at line 208 of file GRL_Driver.java.
The documentation for this class was generated from the following file: