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65 lines
1.8 KiB
65 lines
1.8 KiB
%Machine Superclass for an interface to a physical robot controller
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%
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% An abstract superclass for implementing connections to physical robot controllers.
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%
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%
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% Abstract methods::
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% These methods must be implemented in a subclass
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%
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% open Establishes connection to physical robot
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% close Close connection to physical robot
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% getpos Get joint angles
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% setpos Set joint angles and optionally speed
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%
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% Notes::
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% - Subclasses the MATLAB handle class which means that pass by reference semantics
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% apply.
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% - experimental code.
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%
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% See also Arbotix, RobotArm.
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% Copyright (C) 1993-2015, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for MATLAB (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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%
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% http://www.petercorke.com
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% Copyright (c) 2013 Peter Corke
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% only a subset of Arbotix commands supported
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% READDATA, WRITEDATA (1 or 2 bytes only)
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% WRITESYNC and ACTION not supported but should be
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% Should subclass an abstract superclass Machine
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classdef Machine < handle
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properties
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debug;
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end
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methods (Abstract)
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connect(m, varargin)
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disconnect(m)
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p = getpos(m)
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setpos(m, varargin)
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end
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methods
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function m = Machine(varargin)
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end
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end
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end
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