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Kinova.API.Jaco.CJacoArmRemote Class Reference

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

 CJacoArmRemote (CCypherMessage encryptedPass, IPAddress commManagerAddress, bool localCommManagerAutoStart)
 
CGetCommInfoCmd GetCommunicationInfo ()
 
CInitConnectionCmd InitProductConnection (int ProductID)
 
bool CloseConnection (CProductJaco jaco)
 
string GetAPIVersion ()
 Gets the API version. More...
 
bool JacoIsReady ()
 Ask if Jaco is ready to communicate. More...
 

Public Attributes

const int TCP_COMM_PORT = 8888
 
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

CJacoControlManagerRemote ControlManager [get, set]
 Gets or sets the control manager. More...
 
CJacoDiagnosticManagerRemote DiagnosticManager [get, set]
 Gets or sets the diagnostic manager. More...
 
CJacoConfigurationManagerRemote ConfigurationsManager [get, set]
 Gets or sets the configurations manager. More...
 

Detailed Description

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()); ...

Member Function Documentation

string Kinova.API.Jaco.CJacoArmRemote.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 }

Returns
A string that contains the API's version number.
Exceptions
CAccessDeniedExceptionIf you didn't provided a valid encrypted password.
bool Kinova.API.Jaco.CJacoArmRemote.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"); }

Returns
True or False if Jaco is ready for communication.
Exceptions
CAccessDeniedExceptionIf you didn't provided a valid encrypted password.

Member Data Documentation

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_CAN1 = 10

Use this constant with the GetCodeVersion method. Represents the CAN 1's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_CAN2 = 11

Use this constant with the GetCodeVersion method. Represents the CAN 2's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_DSP = 0

Use this constant with the GetCodeVersion method. Represents the DSP's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_FINGER1 = 7

Use this constant with the GetCodeVersion method. Represents the Finger #1's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_FINGER2 = 8

Use this constant with the GetCodeVersion method. Represents the Finger #2's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_FINGER3 = 9

Use this constant with the GetCodeVersion method. Represents the Finger #3's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT1 = 1

Use this constant with the GetCodeVersion method. Represents the Joint #1's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT2 = 2

Use this constant with the GetCodeVersion method. Represents the Joint #2's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT3 = 3

Use this constant with the GetCodeVersion method. Represents the Joint #3's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT4 = 4

Use this constant with the GetCodeVersion method. Represents the Joint #4's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT5 = 5

Use this constant with the GetCodeVersion method. Represents the Joint #5's firmware version.

const int Kinova.API.Jaco.CJacoArmRemote.VERSION_JOINT6 = 6

Use this constant with the GetCodeVersion method. Represents the Joint #6's firmware version.

Property Documentation

CJacoConfigurationManagerRemote Kinova.API.Jaco.CJacoArmRemote.ConfigurationsManager
getset

Gets or sets the configurations manager.

The configurations manager.

CJacoControlManagerRemote Kinova.API.Jaco.CJacoArmRemote.ControlManager
getset

Gets or sets the control manager.

The control manager.

CJacoDiagnosticManagerRemote Kinova.API.Jaco.CJacoArmRemote.DiagnosticManager
getset

Gets or sets the diagnostic manager.

The diagnostic manager.


The documentation for this class was generated from the following file: