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API C#
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This class is the root class of this API, it represents a Jaco robot arm. This is the entry point if you want to communicate with a Jaco robot. Note that to declare and initialize a CJacoArm object, you need to specify a valid password provided by kinova. Once the object is declared and initialized, you can access the API freely. More...
Public Member Functions | |
| CJacoArm (CCypherMessage encryptedPass) | |
| Initializes a new instance of the CJacoArm class with default zone and generals configuration. Note that to declare and initialize a CJacoArm object, you need to specify a valid password provided by kinova. Once the object is declared and initialized, you can access the API freely. More... | |
| void | CloseConnection () |
| Closes the USB connection. More... | |
| string | GetAPIVersion () |
| Gets the API version. More... | |
| bool | JacoIsReady () |
| Ask if Jaco is ready to communicate. More... | |
Public Attributes | |
| const int | VERSION_DSP = 0 |
| Use this constant with the GetCodeVersion method. Represents the DSP's firmware version. More... | |
| const int | VERSION_JOINT1 = 1 |
| Use this constant with the GetCodeVersion method. Represents the Joint #1's firmware version. More... | |
| const int | VERSION_JOINT2 = 2 |
| Use this constant with the GetCodeVersion method. Represents the Joint #2's firmware version. More... | |
| const int | VERSION_JOINT3 = 3 |
| Use this constant with the GetCodeVersion method. Represents the Joint #3's firmware version. More... | |
| const int | VERSION_JOINT4 = 4 |
| Use this constant with the GetCodeVersion method. Represents the Joint #4's firmware version. More... | |
| const int | VERSION_JOINT5 = 5 |
| Use this constant with the GetCodeVersion method. Represents the Joint #5's firmware version. More... | |
| const int | VERSION_JOINT6 = 6 |
| Use this constant with the GetCodeVersion method. Represents the Joint #6's firmware version. More... | |
| const int | VERSION_FINGER1 = 7 |
| Use this constant with the GetCodeVersion method. Represents the Finger #1's firmware version. More... | |
| const int | VERSION_FINGER2 = 8 |
| Use this constant with the GetCodeVersion method. Represents the Finger #2's firmware version. More... | |
| const int | VERSION_FINGER3 = 9 |
| Use this constant with the GetCodeVersion method. Represents the Finger #3's firmware version. More... | |
| const int | VERSION_CAN1 = 10 |
| Use this constant with the GetCodeVersion method. Represents the CAN 1's firmware version. More... | |
| const int | VERSION_CAN2 = 11 |
| Use this constant with the GetCodeVersion method. Represents the CAN 2's firmware version. More... | |
Properties | |
| CJacoControlManager | ControlManager [get, set] |
| Gets or sets the control manager. More... | |
| CJacoDiagnosticManager | DiagnosticManager [get, set] |
| Gets or sets the diagnostic manager. More... | |
| CJacoConfigurationManager | ConfigurationsManager [get, set] |
| Gets or sets the configurations manager. More... | |
This class is the root class of this API, it represents a Jaco robot arm. This is the entry point if you want to communicate with a Jaco robot. Note that to declare and initialize a CJacoArm object, you need to specify a valid password provided by kinova. Once the object is declared and initialized, you can access the API freely.
CCypherMessage cypherPass;
//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);
... // Do some stuff with the robot. System.Console.WriteLine("API Version = " + m_Jaco.GetAPIVersion()); ...
| Kinova.API.Jaco.CJacoArm.CJacoArm | ( | CCypherMessage | encryptedPass | ) |
Initializes a new instance of the CJacoArm class with default zone and generals configuration. Note that to declare and initialize a CJacoArm object, you need to specify a valid password provided by kinova. Once the object is declared and initialized, you can access the API freely.
try { CCypherMessage cypherPass;
//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);
if (m_Jaco.JacoIsReady()) { // You do some stuff with the robot System.Console.WriteLine("API Version = " + m_Jaco.GetAPIVersion()); } } catch (CJACOOfflineException ex) { //Manage the Exception }
| CJACOOfflineException | If USB connection is not valid. |
| CAccessDeniedException | If you didn't provided a valid encrypted password. |
| FileNotFoundException | The permission file has been erased. |
| void Kinova.API.Jaco.CJacoArm.CloseConnection | ( | ) |
Closes the USB connection.
| CAccessDeniedException | If you didn't provided a valid encrypted password. |
| string Kinova.API.Jaco.CJacoArm.GetAPIVersion | ( | ) |
Gets the API version.
try { CCypherMessage cypherPass;
//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);
if (m_Jaco.JacoIsReady()) { System.Console.WriteLine("API Version = " + m_Jaco.GetAPIVersion()); } } catch (Exception ex) { //Manage the Exception }
| CAccessDeniedException | If you didn't provided a valid encrypted password. |
| bool Kinova.API.Jaco.CJacoArm.JacoIsReady | ( | ) |
Ask if Jaco is ready to communicate.
try { CCypherMessage cypherPass;
//MyValidPassword is a string containing the password. cypherPass = Crypto.GetInstance().Encrypt(MyValidPassword); CJacoArm m_Jaco = new CJacoArm(cypherPass);
if (m_Jaco.JacoIsReady()) {
System.Console.WriteLine("Jaco is ready.");
} else { System.Console.WriteLine("Jaco is not ready."); } } catch (Exception ex) { System.Console.WriteLine("EXCEPTION"); }
| CAccessDeniedException | If you didn't provided a valid encrypted password. |
| const int Kinova.API.Jaco.CJacoArm.VERSION_CAN1 = 10 |
Use this constant with the GetCodeVersion method. Represents the CAN 1's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_CAN2 = 11 |
Use this constant with the GetCodeVersion method. Represents the CAN 2's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_DSP = 0 |
Use this constant with the GetCodeVersion method. Represents the DSP's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_FINGER1 = 7 |
Use this constant with the GetCodeVersion method. Represents the Finger #1's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_FINGER2 = 8 |
Use this constant with the GetCodeVersion method. Represents the Finger #2's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_FINGER3 = 9 |
Use this constant with the GetCodeVersion method. Represents the Finger #3's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT1 = 1 |
Use this constant with the GetCodeVersion method. Represents the Joint #1's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT2 = 2 |
Use this constant with the GetCodeVersion method. Represents the Joint #2's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT3 = 3 |
Use this constant with the GetCodeVersion method. Represents the Joint #3's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT4 = 4 |
Use this constant with the GetCodeVersion method. Represents the Joint #4's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT5 = 5 |
Use this constant with the GetCodeVersion method. Represents the Joint #5's firmware version.
| const int Kinova.API.Jaco.CJacoArm.VERSION_JOINT6 = 6 |
Use this constant with the GetCodeVersion method. Represents the Joint #6's firmware version.
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getset |
Gets or sets the configurations manager.
The configurations manager.
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getset |
Gets or sets the control manager.
The control manager.
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getset |
Gets or sets the diagnostic manager.
The diagnostic manager.