Kinova joca2
#pragma once #include <vector> #include "KinovaTypes.h" #include "CommunicationLayerWindows.h" #include <stdio.h> //This defines the the location of the communication layer.(CommunicationLayerWindows.dll) #define COMM_LAYER_PATH L"CommunicationLayerWindows.dll" // ***** E R R O R C O D E S ****** #define ERROR_INIT_API 2001 // Error while initializing the API #define ERROR_LOAD_COMM_DLL 2002 // Error while loading the communication layer //Those 3 codes are mostly for internal use #define JACO_NACK_FIRST 2003 #define JACO_COMM_FAILED 2004 #define JACO_NACK_NORMAL 2005 //Unable to initialize the communication layer. #define ERROR_INIT_COMM_METHOD 2006 //Unable to load the Close() function from the communication layer. #define ERROR_CLOSE_METHOD 2007 //Unable to load the GetDeviceCount() function from the communication layer. #define ERROR_GET_DEVICE_COUNT_METHOD 2008 //Unable to load the SendPacket() function from the communication layer. #define ERROR_SEND_PACKET_METHOD 2009 //Unable to load the SetActiveDevice() function from the communication layer. #define ERROR_SET_ACTIVE_DEVICE_METHOD 2010 //Unable to load the GetDeviceList() function from the communication layer. #define ERROR_GET_DEVICES_LIST_METHOD 2011 //Unable to initialized the system semaphore. #define ERROR_SEMAPHORE_FAILED 2012 //Unable to load the ScanForNewDevice() function from the communication layer. #define ERROR_SCAN_FOR_NEW_DEVICE 2013 //Unable to load the GetActiveDevice function from the communication layer. #define ERROR_GET_ACTIVE_DEVICE_METHOD 2014 //A function's parameter is not valid. #define ERROR_INVALID_PARAM 2100 //The API is not initialized. #define ERROR_API_NOT_INITIALIZED 2101 //Unable to load the InitDataStructure() function from the communication layer. #define ERROR_INIT_DATA_STRUCTURES_METHOD 2102 // ***** E N D O F E R R O R C O D E S ****** //This represents the size of an array containing Cartesian values. #define CARTESIAN_SIZE 6 //This represents the max actuator count in our context. #define MAX_ACTUATORS 6 //This represents the max actuator count in our context. #define MAX_INVENTORY 15 //This represents the size of the array returned by the function GetCodeVersion. #define CODE_VERSION_COUNT 37 //This represents the size of the array returned by the function GetAPIVersion. #define API_VERSION_COUNT 3 //This represents the size of the array returned by the function GetPositionCurrentActuators. #define POSITION_CURRENT_COUNT 12 //This represents the size of the array returned by the function GetSpasmFilterValues and sent to SetSpasmFilterValues. #define SPASM_FILTER_COUNT 1 //Version of the API 5.01.04 #define COMMAND_LAYER_VERSION 50200 #define COMMAND_SIZE 70 #define OPTIMAL_Z_PARAM_SIZE 16 #define GRAVITY_VECTOR_SIZE 3 #define GRAVITY_PARAM_SIZE 42 #define GRAVITY_PAYLOAD_SIZE 4 // ***** API'S FUNCTIONAL CORE ***** extern "C" __declspec(dllexport) int GetDevices(KinovaDevice devices[MAX_KINOVA_DEVICE], int &result); extern "C" __declspec(dllexport) int SetActiveDevice(KinovaDevice device); extern "C" __declspec(dllexport) int RefresDevicesList(); extern "C" __declspec(dllexport) int InitAPI(void); extern "C" __declspec(dllexport) int CloseAPI(void); extern "C" __declspec(dllexport) int GetCodeVersion(int Response[CODE_VERSION_COUNT]); extern "C" __declspec(dllexport) int GetAPIVersion(int Response[API_VERSION_COUNT]); extern "C" __declspec(dllexport) int GetCartesianPosition(CartesianPosition &Response); extern "C" __declspec(dllexport) int GetAngularPosition(AngularPosition &Response); extern "C" __declspec(dllexport) int GetCartesianForce(CartesianPosition &Response); extern "C" __declspec(dllexport) int GetAngularForce(AngularPosition &Response); extern "C" __declspec(dllexport) int GetAngularCurrent(AngularPosition &Response); extern "C" __declspec(dllexport) int GetActualTrajectoryInfo(TrajectoryPoint &Response); extern "C" __declspec(dllexport) int GetGlobalTrajectoryInfo(TrajectoryFIFO &Response); extern "C" __declspec(dllexport) int GetSensorsInfo(SensorsInfo &Response); extern "C" __declspec(dllexport) int GetSingularityVector(SingularityVector &Response); extern "C" __declspec(dllexport) int SetAngularControl(); extern "C" __declspec(dllexport) int SetCartesianControl(); extern "C" __declspec(dllexport) int StartControlAPI(); extern "C" __declspec(dllexport) int StopControlAPI(); extern "C" __declspec(dllexport) int RestoreFactoryDefault(); extern "C" __declspec(dllexport) int SendJoystickCommand(JoystickCommand joystickCommand); extern "C" __declspec(dllexport) int SendAdvanceTrajectory(TrajectoryPoint trajectory); extern "C" __declspec(dllexport) int SendBasicTrajectory(TrajectoryPoint trajectory); extern "C" __declspec(dllexport) int GetClientConfigurations(ClientConfigurations &config); extern "C" __declspec(dllexport) int SetClientConfigurations(ClientConfigurations config); extern "C" __declspec(dllexport) int EraseAllTrajectories(); extern "C" __declspec(dllexport) int GetPositionCurrentActuators(float Response[POSITION_CURRENT_COUNT]); extern "C" __declspec(dllexport) int SetActuatorPID(unsigned int address, float P, float I, float D); extern "C" __declspec(dllexport) int GetAngularCommand(AngularPosition &Response); extern "C" __declspec(dllexport) int GetCartesianCommand(CartesianPosition &Response); extern "C" __declspec(dllexport) int GetAngularCurrentMotor(AngularPosition &Response); extern "C" __declspec(dllexport) int GetAngularVelocity(AngularPosition &Response); extern "C" __declspec(dllexport) int GetControlType(int &Response); extern "C" __declspec(dllexport) int StartForceControl(); extern "C" __declspec(dllexport) int StopForceControl(); extern "C" __declspec(dllexport) int StartCurrentLimitation(); extern "C" __declspec(dllexport) int StopCurrentLimitation(); extern "C" __declspec(dllexport) int GetSystemErrorCount(unsigned int &Response); extern "C" __declspec(dllexport) int GetSystemError(unsigned int indexError, SystemError &Response); extern "C" __declspec(dllexport) int ClearErrorLog(); extern "C" __declspec(dllexport) int EraseAllProtectionZones(); //Internal use only extern "C" __declspec(dllexport) int SetSerialNumber(char Command[STRING_LENGTH], char temp[STRING_LENGTH]); extern "C" __declspec(dllexport) int GetControlMapping(ControlMappingCharts &Response); extern "C" __declspec(dllexport) int GetProtectionZone(ZoneList &Response); extern "C" __declspec(dllexport) int SetProtectionZone(ZoneList Command); extern "C" __declspec(dllexport) int GetGripperStatus(Gripper &Response); extern "C" __declspec(dllexport) int GetQuickStatus(QuickStatus &Response); extern "C" __declspec(dllexport) int GetForcesInfo(ForcesInfo &Response); extern "C" __declspec(dllexport) int SetControlMapping(ControlMappingCharts Command); extern "C" __declspec(dllexport) int ProgramFlash(const char * filename); extern "C" __declspec(dllexport) int SetJointZero(int ActuatorAdress); extern "C" __declspec(dllexport) int SetTorqueZero(int ActuatorAdress); extern "C" __declspec(dllexport) int SetTorqueGain(int ActuatorAdress, float Gain); extern "C" __declspec(dllexport) int SetActuatorPIDFilter(int ActuatorAdress, float filterP, float filterI, float filterD); extern "C" __declspec(dllexport) int SetActuatorAddress(int ActuatorAdress, int newAddress); extern "C" __declspec(dllexport) int GetGeneralInformations(GeneralInformations &Response); extern "C" __declspec(dllexport) int SetFrameType(int frameType); extern "C" __declspec(dllexport) int SetCartesianForceMinMax(CartesianInfo min, CartesianInfo max); extern "C" __declspec(dllexport) int SetCartesianInertiaDamping(CartesianInfo inertia, CartesianInfo damping); extern "C" __declspec(dllexport) int SetAngularTorqueMinMax(AngularInfo min, AngularInfo max); extern "C" __declspec(dllexport) int SetAngularInertiaDamping(AngularInfo inertia, AngularInfo damping); //Internal use only extern "C" __declspec(dllexport) int SetDevValue(std::vector<float> command); //Internal use only extern "C" __declspec(dllexport) int GetDevValue(std::vector<float> &Response); extern "C" __declspec(dllexport) int SetSpasmFilterValues(float Command[SPASM_FILTER_COUNT], int activationStatus); extern "C" __declspec(dllexport) int GetSpasmFilterValues(float Response[SPASM_FILTER_COUNT], int &activationStatus); extern "C" __declspec(dllexport) int MoveHome(); extern "C" __declspec(dllexport) int GetAngularForceGravityFree(AngularPosition &Response); extern "C" __declspec(dllexport) int GetActuatorAcceleration(AngularAcceleration &Response); extern "C" __declspec(dllexport) int InitFingers(); extern "C" __declspec(dllexport) int GetPeripheralInventory(PeripheralInfo list[MAX_INVENTORY]); //Internal use only extern "C" __declspec(dllexport) int SetModel(char Command[STRING_LENGTH], char temp[STRING_LENGTH]); extern "C" __declspec(dllexport) int GetJoystickValue(JoystickCommand &joystickCommand); extern "C" __declspec(dllexport) int SetRobotConfiguration(int ConfigID); extern "C" __declspec(dllexport) int GetCommandVelocity(float cartesianVelocity[CARTESIAN_SIZE], float angularVelocity[MAX_ACTUATORS]); extern "C" __declspec(dllexport) int GetEndEffectorOffset(unsigned int &status, float &x, float &y, float &z); extern "C" __declspec(dllexport) int SetEndEffectorOffset(unsigned int status, float x, float y, float z); extern "C" __declspec(dllexport) int SendAngularTorqueCommand(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SendCartesianForceCommand(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueActuatorGain(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueActuatorDamping(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SwitchTrajectoryTorque(GENERALCONTROL_TYPE type); extern "C" __declspec(dllexport) int SetTorqueCommandMax(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueSafetyFactor(float factor); extern "C" __declspec(dllexport) int SetTorqueGainMax(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueRateLimiter(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFeedCurrent(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFeedVelocity(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorquePositionLimitDampingGain(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorquePositionLimitDampingMax(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorquePositionLimitRepulsGain(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorquePositionLimitRepulsMax(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFilterVelocity(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFilterMeasuredTorque(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFilterError(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueFilterControlEffort(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetGravityType(GRAVITY_TYPE type); extern "C" __declspec(dllexport) int SetGravityVector(float gravityVector[GRAVITY_VECTOR_SIZE]); extern "C" __declspec(dllexport) int SetGravityOptimalZParam(float Command[GRAVITY_PARAM_SIZE]); extern "C" __declspec(dllexport) int SetGravityManualInputParam(float Command[GRAVITY_PARAM_SIZE]); extern "C" __declspec(dllexport) int GetAngularTorqueCommand(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int GetAngularTorqueGravityEstimation(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetActuatorMaxVelocity(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetSwitchThreshold(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetPositionLimitDistance(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int SetTorqueControlType(TORQUECONTROL_TYPE type); extern "C" __declspec(dllexport) int SetGravityPayload(float Command[GRAVITY_PAYLOAD_SIZE]); extern "C" __declspec(dllexport) int SetTorqueVibrationController(float activationStatus); extern "C" __declspec(dllexport) int SetTorqueRobotProtection(int protectionLevel); //Internal use only extern "C" __declspec(dllexport) int SetTorqueVelocityLimitFilter(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueFeedFilter(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueStaticFriction(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueErrorDeadband(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueBrake(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueInactivityTimeActuator(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueInactivityTimeMainController(int time); //Internal use only extern "C" __declspec(dllexport) int SetTorqueDampingMax(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueFeedVelocityUnderGain(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueFeedCurrentVoltage(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueStaticFrictionMax(float Command[COMMAND_SIZE]); //Internal use only extern "C" __declspec(dllexport) int SetTorqueErrorResend(float Command[COMMAND_SIZE]); extern "C" __declspec(dllexport) int RunGravityZEstimationSequence(ROBOT_TYPE type, double OptimalzParam[OPTIMAL_Z_PARAM_SIZE]); extern "C" __declspec(dllexport) int GetTrajectoryTorqueMode(int&); extern "C" __declspec(dllexport) int SetTorqueInactivityType(int);
代码来自：kinova 官方
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