Kinova API Documentation

This is the list of available feature that can be mapped with a controller through the mappign system. Every list of mode that a mapping contains is mapped with one of these features. The default value is CF_NoFunctionality.

Enumerator:
CF_NoFunctionality 

Default value, represents nothing.

CF_Disable_EnableJoystick 

Virtually turn on and off the joystick.

CF_Retract_ReadyToUse 

Home the robot if the is initialized and anywhere in the workspace except between the READY and RETRACTED position. Go to RETRACTED position if the robot is in READY position and go to READY position if the robot is in RETRACTED position. is in READY mode.

CF_Change_TwoAxis_ThreeAxis 

Not used for now.

CF_Change_DrinkingMode 

Put the robotical arm in the drinking mode.

CF_Cycle_ModeA_list 

Iterate mode in the list A.

CF_Cycle_ModeB_list 

Iterate mode in the list B.

CF_DecreaseSpeed 

Divide the velocity by 2.

CF_IncreaseSpeed 

Double the speed.

CF_Goto_Position1 

Move the robotical arm's end position to the GOTO position 1.

CF_Goto_Position2 

Move the robotical arm's end position to the GOTO position 2.

CF_Goto_Position3 

Move the robotical arm's end position to the GOTO position 3.

CF_Goto_Position4 

Move the robotical arm's end position to the GOTO position 4.

CF_Goto_Position5 

Move the robotical arm's end position to the GOTO position 5.

CF_RecordPosition1 

Store the current cartesian position into the GOTO position 1.

CF_RecordPosition2 

Store the current cartesian position into the GOTO position 2.

CF_RecordPosition3 

Store the current cartesian position into the GOTO position 3.

CF_RecordPosition4 

Store the current cartesian position into the GOTO position 4.

CF_RecordPosition5 

Store the current cartesian position into the GOTO position 5.

CF_X_Positive 

Move the robotical arm's end effector along the X axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 1 counterclockwise.

CF_X_Negative 

Move the robotical arm's end effector along the X axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 1 clockwise.

CF_Y_Positive 

Move the robotical arm's end effector along the Y axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 2 counterclockwise.

CF_Y_Negative 

Move the robotical arm's end effector along the Y axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 2 clockwise.

CF_Z_Positive 

Move the robotical arm's end effector along the Z axis toward the positive values. If the robotical arm is in angular control, this will move the actuator 3 counterclockwise.

CF_Z_Negative 

Move the robotical arm's end effector along the Z axis toward the negative values. If the robotical arm is in angular control, this will move the actuator 3 clockwise.

CF_R_Positive 

Rotate the robotical arm's end effector around the X axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 4 counterclockwise.

CF_R_Negative 

Rotate the robotical arm's end effector around the X axis clockwise. If the robotical arm is in angular control, this will move the actuator 4 clockwise.

CF_U_Positive 

Rotate the robotical arm's end effector around the Y axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 5 counterclockwise.

CF_U_Negative 

Rotate the robotical arm's end effector around the X axis clockwise. If the robotical arm is in angular control, this will move the actuator 5 clockwise.

CF_V_Positive 

Rotate the robotical arm's end effector around the Z axis counterclockwise. If the robotical arm is in angular control, this will move the actuator 6 counterclockwise.

CF_V_Negative 

Rotate the robotical arm's end effector around the Z axis clockwise. If the robotical arm is in angular control, this will move the actuator 6 clockwise.

CF_OpenHandOneFingers 

Not used for now.

CF_CloseHandOneFingers 

Not used for now.

CF_OpenHandTwoFingers 

Open fingers 1 and 2 of the hand.

CF_CloseHandTwoFingers 

Close fingers 1 and 2 of the hand.

CF_OpenHandThreeFingers 

Open fingers 1, 2 and 3 of the hand.

CF_CloseHandThreeFingers 

Close fingers 1, 2 and 3 of the hand.

CF_ForceAngularVelocity 

Put the robotical arm in angular control mode.

CF_ForceControlStatus 

Turn ON/OFF the force control if the feature is available.

CF_AutomaticOrientationXPlus 

Orient the end effector toward the positive X Axis.

CF_AutomaticOrientationXMinus 

Orient the end effector toward the negative X Axis.

CF_AutomaticOrientationYPlus 

Orient the end effector toward the positive Y Axis.

CF_AutomaticOrientationYMinus 

Orient the end effector toward the negative Y Axis.

CF_AutomaticOrientationZPlus 

Orient the end effector toward the positive Z Axis.

CF_AutomaticOrientationZMinus 

Orient the end effector toward the negative Z Axis.

CF_AdvanceGOTO_1 

Move the robot along the advance GOTO position 1.

CF_AdvanceGOTO_Clear_1 

Clear the advance GOTO's trajectory 1.

CF_AdvanceGOTO_Add_1 

Add a point to the advance GOTO's trajectory 1.

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