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ArmInterface.h

00001 #include "ArmUtil.h"
00002 
00003 #ifndef ARMINTERFACE_H
00004 #define ARMINTERFACE_H
00005 
00006 
00008 class ArmInterface
00009 {
00010 public:
00012 
00017         virtual int calibrateB() = 0;                                           
00018         
00019 
00021 
00026         virtual int singleJointMoveNB(int m, double targetAngleDeg) = 0;        
00027         
00028 
00030 
00033         virtual int jointAngleMoveNB(jointAnglesType j) = 0;            
00034         
00035 
00037 
00040         virtual int opMoveNB(opCoordinatesType o) = 0;                          
00041         
00042 
00044 
00048         virtual void opTrajectoryMoveB(opCoordinatesType o) = 0;                
00049         
00050 
00052 
00059         virtual void rzMoveB(double delta_r, double delta_z) = 0;               
00060         
00061 
00063         virtual void stopMotion() = 0;                                          
00064         
00065 
00067         virtual void motorOff(int m) = 0;                                       
00068         
00069 
00071         virtual void motorOn(int m) = 0;                                                
00072 
00073 
00075         virtual double getJointAngle(int m) =0;                                 
00076         
00077 
00079 
00081         virtual armDataType readArmData() = 0;                                  
00082 
00083 };
00084 #endif

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