Collaboration diagram for com.neuronrobotics.sdk.addons.irobot.CreateArm:

[legend]

Public Member Functions
	CreateArm (ServoChannel[] links)

void	home ()

void	rest ()

void	gripClose ()

void	gripOpen ()

void	setShouler (double angle)

void	setElbow (double angle)

void	setWrist (double angle)

void	setAngles (double shoulder, double elbow, double wrist)

void	setAngles (double shoulder, double elbow, double wrist, float time)

double[]	getAngles ()

double[]	getCartesianPose ()

String	getCartesianPoseString ()

void	setCartesianPose (double[] p)

void	setCartesianPose (double[] p, float time)

void	setCartesianPose (double x, double y, double orentation)

void	setCartesianPose (double x, double y, double orentation, float time)

void	setCartesianX (double x)

void	setCartesianY (double y)

void	setCartesianOrentation (double o)

double	GetOrentation ()

void	setCenters (double[] centers)

double[]	getCenters ()

void	setBlocking (boolean blocking)

boolean	isBlocking ()

void	setScale (double scale[])

double[]	getScale ()

Private Member Functions
void	check (ServoChannel[] links)

boolean	updateCartesian (double x, double y, double orentation)

double	sqrt (double d)

double	atan2 (double y, double x)

double	acos (double d)

double	sin (double angle)

double	cos (double angle)

double	ToRadians (double degrees)

Private Attributes
double	scale [] ={1.55,1.50,-1.76}

double[]	positions =new double[4]

double[]	angles =new double[3]

double[]	pose =new double[3]

double[]	centers ={134,136,128,48}

boolean	blocking = false

double	xyThreshHold = .1

double	orentThreshHold = 1

Static Private Attributes
static final double	l1 = 6.0

static final double	l2 = 3.93

static final double	l3 = 4.75

static final double	M_PI = Math.PI

Detailed Description

The Class CreateArm.

Definition at line 25 of file CreateArm.java.

Constructor & Destructor Documentation

◆ CreateArm()

com.neuronrobotics.sdk.addons.irobot.CreateArm.CreateArm ( ServoChannel[] links )

Instantiates a new creates the arm.

Parameters

links this is an array of servo channel links. 0th element is shoulder 1th element is elbow 2th element is is wrist 3th element is the gripper

Definition at line 76 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.check(), com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.home(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.pose.

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Member Function Documentation

◆ acos()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.acos ( double d )

private

Acos.

Parameters

d the d

Returns: the double

Definition at line 456 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ atan2()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.atan2	(	double	y,
		double	x
	)

private

Atan2.

Parameters

y	the y
x	the x

Returns: the double

Definition at line 446 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ check()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.check ( ServoChannel[] links )

private

Check.

Parameters

links the links

Definition at line 133 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.getCenters(), com.neuronrobotics.sdk.addons.irobot.CreateArm.positions, and com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.SetPosition().

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.CreateArm().

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◆ cos()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.cos ( double angle )

private

Cos.

Parameters

angle the angle

Returns: the double

Definition at line 476 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ getAngles()

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.getAngles ( )

Gets the angles.

Returns: an array of angles in degrees. This should correspond to pose of the arm.

Definition at line 253 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.getCenters(), com.neuronrobotics.sdk.addons.irobot.CreateArm.getScale(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.positions.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.GetOrentation(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

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◆ getCartesianPose()

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose ( )

Gets the cartesian pose.

Returns: pose vector, X,Y,Orentation

Definition at line 268 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.CreateArm(), com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPoseString(), com.neuronrobotics.sdk.addons.irobot.CreateArm.home(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.rest().

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◆ getCartesianPoseString()

String com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPoseString ( )

Gets the cartesian pose string.

Returns: the cartesian pose string

Definition at line 286 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.pose.

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◆ getCenters()

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.getCenters ( )

Gets the centers.

Returns: the centers

Definition at line 514 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.centers.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.check(), com.neuronrobotics.sdk.addons.irobot.CreateArm.getAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

◆ GetOrentation()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.GetOrentation ( )

Gets the orentation.

Returns: the current approach orientation of the wrist

Definition at line 495 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.angles, and com.neuronrobotics.sdk.addons.irobot.CreateArm.getAngles().

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose().

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◆ getScale()

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.getScale ( )

Gets the scale.

Returns: the scale

Definition at line 550 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.scale.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

◆ gripClose()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.gripClose ( )

Grip close.

Definition at line 103 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.centers, com.neuronrobotics.sdk.addons.irobot.CreateArm.isBlocking(), and com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.SetPosition().

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◆ gripOpen()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.gripOpen ( )

Grip open.

Definition at line 117 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.centers, com.neuronrobotics.sdk.addons.irobot.CreateArm.isBlocking(), and com.neuronrobotics.sdk.dyio.peripherals.ServoChannel.SetPosition().

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.home(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.rest().

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◆ home()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.home ( )

Home.

Definition at line 85 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.gripOpen(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.CreateArm().

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◆ isBlocking()

boolean com.neuronrobotics.sdk.addons.irobot.CreateArm.isBlocking ( )

Checks if is blocking.

Returns: true, if is blocking

Definition at line 532 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.blocking.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.gripClose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.gripOpen(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

◆ rest()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.rest ( )

Rest.

Definition at line 94 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.gripOpen(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setAngles() [1/2]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles	(	double	shoulder,
		double	elbow,
		double	wrist
	)

This takes angles in degrees and converts them to servo positions; Note: All zeros would be the arm completely horizontal, all links pointing out.

Parameters

shoulder	the shoulder
elbow	the elbow
wrist	the wrist

Definition at line 182 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.home(), com.neuronrobotics.sdk.addons.irobot.CreateArm.rest(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setElbow(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setShouler(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setWrist().

◆ setAngles() [2/2]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles	(	double	shoulder,
		double	elbow,
		double	wrist,
		float	time
	)

This takes angles in degrees and converts them to servo positions; Note: All zeros would be the arm completely horizontal, all links pointing out.

Parameters

shoulder	the shoulder
elbow	the elbow
wrist	the wrist
time	the time it should take for the transition to take

Definition at line 195 of file CreateArm.java.

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◆ setBlocking()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setBlocking ( boolean blocking )

Sets the blocking.

Parameters

blocking the new blocking

Definition at line 523 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.blocking.

◆ setCartesianOrentation()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianOrentation ( double o )

Sets the cartesian orentation.

Parameters

o	the new cartesian orentation

Definition at line 422 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.pose, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setCartesianPose() [1/4]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose	(	double	x,
		double	y,
		double	orentation
	)

Sets the cartesian pose.

Parameters

x	the x
y	the y
orentation	the orentation

Definition at line 323 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setCartesianPose() [2/4]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose	(	double	x,
		double	y,
		double	orentation,
		float	time
	)

Sets the cartesian pose.

Parameters

x	the x
y	the y
orentation	the orentation
time	the time

Definition at line 335 of file CreateArm.java.

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◆ setCartesianPose() [3/4]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose ( double[] p )

Sets the cartesian pose.

Parameters

p	the new cartesian pose

Definition at line 302 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.home(), com.neuronrobotics.sdk.addons.irobot.CreateArm.rest(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianOrentation(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianX(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianY().

◆ setCartesianPose() [4/4]

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose	(	double[]	p,
		float	time
	)

Sets the cartesian pose.

Parameters

p	the p
time	the time

Definition at line 312 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setCartesianX()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianX ( double x )

Sets the cartesian x.

Parameters

x	the new cartesian x

Definition at line 404 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.pose, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setCartesianY()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianY ( double y )

Sets the cartesian y.

Parameters

y	the new cartesian y

Definition at line 413 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.pose, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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◆ setCenters()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setCenters ( double[] centers )

Sets the centers.

Parameters

centers the new centers

Definition at line 505 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.centers.

◆ setElbow()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setElbow ( double angle )

Sets the elbow.

Parameters

angle set just the elbow angle

Definition at line 161 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.angles, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

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◆ setScale()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setScale ( double scale[] )

Sets the scale.

Parameters

scale the new scale

Definition at line 541 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.scale.

◆ setShouler()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setShouler ( double angle )

Sets the shouler.

Parameters

angle set just the shoulder angle

Definition at line 152 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.angles, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

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◆ setWrist()

void com.neuronrobotics.sdk.addons.irobot.CreateArm.setWrist ( double angle )

Sets the wrist.

Parameters

angle set just the wrist angle

Definition at line 170 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.angles, and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

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◆ sin()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.sin ( double angle )

private

Sin.

Parameters

angle the angle

Returns: the double

Definition at line 466 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ sqrt()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.sqrt ( double d )

private

Sqrt.

Parameters

d the d

Returns: the double

Definition at line 435 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ ToRadians()

double com.neuronrobotics.sdk.addons.irobot.CreateArm.ToRadians ( double degrees )

private

To radians.

Parameters

degrees the degrees

Returns: the double

Definition at line 486 of file CreateArm.java.

References com.neuronrobotics.sdk.addons.irobot.CreateArm.M_PI.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose().

◆ updateCartesian()

boolean com.neuronrobotics.sdk.addons.irobot.CreateArm.updateCartesian	(	double	x,
		double	y,
		double	orentation
	)

private

Update cartesian.

Parameters

x	the x
y	the y
orentation	the orentation

Returns: true, if successful

Definition at line 378 of file CreateArm.java.

References com.neuronrobotics.sdk.common.Log.info(), com.neuronrobotics.sdk.addons.irobot.CreateArm.orentThreshHold, com.neuronrobotics.sdk.addons.irobot.CreateArm.pose, and com.neuronrobotics.sdk.addons.irobot.CreateArm.xyThreshHold.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

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Member Data Documentation

◆ angles

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.angles =new double[3]

private

The angles.

Definition at line 50 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.GetOrentation(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setElbow(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setShouler(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setWrist().

◆ blocking

boolean com.neuronrobotics.sdk.addons.irobot.CreateArm.blocking = false

private

The blocking.

Definition at line 59 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.isBlocking(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setBlocking().

◆ centers

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.centers ={134,136,128,48}

private

The centers.

Definition at line 56 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCenters(), com.neuronrobotics.sdk.addons.irobot.CreateArm.gripClose(), com.neuronrobotics.sdk.addons.irobot.CreateArm.gripOpen(), com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCenters().

◆ l1

final double com.neuronrobotics.sdk.addons.irobot.CreateArm.l1 = 6.0

staticprivate

The Constant l1.

Definition at line 31 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ l2

final double com.neuronrobotics.sdk.addons.irobot.CreateArm.l2 = 3.93

staticprivate

The Constant l2.

Definition at line 34 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ l3

final double com.neuronrobotics.sdk.addons.irobot.CreateArm.l3 = 4.75

staticprivate

The Constant l3.

Definition at line 37 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose().

◆ M_PI

final double com.neuronrobotics.sdk.addons.irobot.CreateArm.M_PI = Math.PI

staticprivate

The Constant M_PI.

Definition at line 41 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.setCartesianPose(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.ToRadians().

◆ orentThreshHold

double com.neuronrobotics.sdk.addons.irobot.CreateArm.orentThreshHold = 1

private

The orent thresh hold.

Definition at line 65 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.updateCartesian().

◆ pose

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.pose =new double[3]

private

The pose.

Definition at line 53 of file CreateArm.java.

◆ positions

double [] com.neuronrobotics.sdk.addons.irobot.CreateArm.positions =new double[4]

private

The positions.

Definition at line 47 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.check(), com.neuronrobotics.sdk.addons.irobot.CreateArm.getAngles(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setAngles().

◆ scale

double com.neuronrobotics.sdk.addons.irobot.CreateArm.scale[] ={1.55,1.50,-1.76}

private

The scale.

Definition at line 44 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.getScale(), and com.neuronrobotics.sdk.addons.irobot.CreateArm.setScale().

◆ xyThreshHold

double com.neuronrobotics.sdk.addons.irobot.CreateArm.xyThreshHold = .1

private

The xy thresh hold.

Definition at line 62 of file CreateArm.java.

Referenced by com.neuronrobotics.sdk.addons.irobot.CreateArm.updateCartesian().

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

java-bowler/src/main/java/com/neuronrobotics/sdk/addons/irobot/CreateArm.java

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CreateArm()

Member Function Documentation

◆ acos()

◆ atan2()

◆ check()

◆ cos()

◆ getAngles()

◆ getCartesianPose()

◆ getCartesianPoseString()

◆ getCenters()

◆ GetOrentation()

◆ getScale()

◆ gripClose()

◆ gripOpen()

◆ home()

◆ isBlocking()

◆ rest()

◆ setAngles() [1/2]

◆ setAngles() [2/2]

◆ setBlocking()

◆ setCartesianOrentation()

◆ setCartesianPose() [1/4]

◆ setCartesianPose() [2/4]

◆ setCartesianPose() [3/4]

◆ setCartesianPose() [4/4]

◆ setCartesianX()

◆ setCartesianY()

◆ setCenters()

◆ setElbow()

◆ setScale()

◆ setShouler()

◆ setWrist()

◆ sin()

◆ sqrt()

◆ ToRadians()

◆ updateCartesian()

Member Data Documentation

◆ angles

◆ blocking

◆ centers

◆ l1

◆ l2

◆ l3

◆ M_PI

◆ orentThreshHold

◆ pose

◆ positions

◆ scale

◆ xyThreshHold