robot_teach_interface.h

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#ifndef ROBOT_TEACH_INTERFACE_H_
#define ROBOT_TEACH_INTERFACE_H_
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
//----------------------------数据操作接口见robotStruct.h--------------------------
 
 
//-------------------------------------------------------------------------------
int set_robot_index(int robot_index);
 
int get_robot_index();
 
int set_robot_tool(const char* tool_name);
 
const char* get_robot_tool();
 
int set_robot_wobj(const char* wobj_name);
 
const char* get_robot_wobj();
 
int set_robot_teach_coordinate(int frame);
 
int get_robot_teach_coordinate();
 
int get_robot_num();
 
int get_robot_dof();
 
int get_robot_joint(double* joint);
 
int get_robot_cartesian(double* cartesin);
 
void set_robot_teach_velocity(double vel_percent);
 
double get_robot_teach_velocity();
 
void set_robot_run_type(int isSimulation);
 
int get_robot_run_type();
 
int get_robot_run_state();
 
int create_robot_torque_sensor(const char* torqueSensorName);
 
int calibration_robot_torque_sensor(const char* torqueSensorName);
 
int get_robot_torque_sensor(const char* torqueSensorName, double* torque);
 
int get_robot_torque_sensor_transform(const char* torqueSensorName, double* torque);
 
int create_robot_grip(const char* gripName);
 
int control_robot_grip(const char* gripName, double close_percent);
 
void robot_move_error_clear();
 
int start_robot_project(const char* project_name);
 
int close_robot_project();
 
int start_robot_c_project(const char* project_name);
 
int close_robot_c_project();
 
int start_robot_lua_project(const char* project_name);
 
int close_robot_lua_project();
 
int save_robot_current_joint_data(const char* data_name);
 
int save_robot_current_cartesian_data(const char* data_name);
 
int set_robot_data_path(const char* path);
 
int set_robot_data_default_path();
 
const char* get_robot_data_path();
 
int robot_direct_teach_start(double inertia, double damping, int* teach_axis, int is_tool_ctrl);
 
int robot_direct_teach_end();
 
//----------------------------------------------------运动相关接口---------------------------
 
int robot_teach_enable();
 
int robot_teach_disenable();
 
int robot_teach_stop();
 
int robot_home();
 
int robot_goto(double* J, int dof);
 
int robot_teach_joint(int axis_index, int dir);
 
int robot_teach_cartesian(int axis_index,int dir);
 
int robot_teach_move(int axis_index,int dir);
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* ROBOT_TEACH_INTERFACE_H_ */