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API C#
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It is a class that define every communication constant used in the communication process. More...
Public Attributes | |
| const int | COMMAND_SUCCESS = 0 |
| The error code for a success command. More... | |
| const int | JACO_NACK_FIRST = 1 |
| The error code for receiving a NACK on the first packet from the DSP. More... | |
| const int | JACO_NACK_NORMAL = 2 |
| The error code for receiving a NACK on any packet except the first from the DSP. More... | |
| const int | JACO_FAIL = 3 |
| The error code for receiving a FAIL from the DSP. More... | |
| const int | KINOVA_NACK_ERROR_0 = 4 |
| The error code for receiving a type 0 error from the USBManager. More... | |
| const int | KINOVA_NACK_ERROR_1 = 5 |
| The error code for receiving a type 1 error from the USBManager. More... | |
| const int | KINOVA_NACK_ERROR_2 = 6 |
| The error code for receiving a type 2 error from the USBManager. More... | |
| const int | KINOVA_NACK_ERROR_3 = 7 |
| The error code for receiving a type 3 error from the USBManager. More... | |
| const int | PAGE_SIZE = 2048 |
| The size in byte of a flash page inside the DSP. More... | |
| const int | ADDRESS_PAGE_SIZE = 4 |
| Index of the parameter [Address page size] in the header. More... | |
| const int | PACKET_PER_PAGE_QTY = 40 |
| Quantity of packet in a flash page. More... | |
| const int | PAGEPACKET_SIZE = 52 |
| Packet size of a flash page. More... | |
| const int | JACO_HEADER_IDPACKET = 0 |
| Parameter [Packet's id] index in the JACO header. More... | |
| const int | JACO_HEADER_PACKETQTY = 2 |
| Parameter [Packet quantity] in the JACO header. More... | |
| const int | JACO_HEADER_IDCOMMAND = 4 |
| Parameter [Command's id] index in the JACO header. More... | |
| const int | JACO_HEADER_COMMANDSIZE = 6 |
| Parameter [Command's size] index in the JACO header. More... | |
| const int | KINOVA_HEADER_SOURCE = 0 |
| Parameter [source] index in the Kinova header. More... | |
| const int | KINOVA_HEADER_DEST = 4 |
| Parameter [destination] index in the Kinova header. More... | |
| const int | KINOVA_HEADER_ACK = 8 |
| Parameter [ACK/NACK] index in the Kinova header. More... | |
| const int | KINOVA_HEADER_SPEED = 9 |
| Parameter [speed] index in the Kinova header. More... | |
| const int | KINOVA_HEADER_OPTION = 10 |
| Parameter [option] index in the Kinova header. More... | |
| const int | KINOVA_HEADER_ERROR = 12 |
| Parameter [error] index in the Kinova header. More... | |
| const int | USB_HEADER_SIZE = 8 |
| Size of the header within a packet. More... | |
| const int | KINOVA_HEADER_SIZE = 16 |
| Kinova header's size in byte. More... | |
| const short | USB_DATA_SIZE = 56 |
| Size of the data within a packet. More... | |
| const short | USB_PACKET_SIZE = USB_DATA_SIZE + USB_HEADER_SIZE |
| Size of the JACO USB packet. More... | |
| const short | KINOVA_PACKET_SIZE = USB_PACKET_SIZE + KINOVA_HEADER_SIZE |
| Size of the Kinova USB packet. More... | |
| const short | KINOVA_DATA_SIZE = USB_PACKET_SIZE |
| Size of the data portion in a kinova USB packet. More... | |
| const long | ERASE_FLASH_DELAY = 100 |
| Delay between erasing the flash and starting the flash reprogrammation. More... | |
| const long | WRITTING_PAGE_DELAY = 10 |
| Delay between the write of each flash pages More... | |
| const int | JACO_NACK_BIT_VALUE = 32768 |
| const int | JACO_FAIL_BIT_VALUE = 16384 |
It is a class that define every communication constant used in the communication process.
| const int Kinova.DLL.CommData.General.CCommDef.ADDRESS_PAGE_SIZE = 4 |
Index of the parameter [Address page size] in the header.
| const int Kinova.DLL.CommData.General.CCommDef.COMMAND_SUCCESS = 0 |
The error code for a success command.
| const long Kinova.DLL.CommData.General.CCommDef.ERASE_FLASH_DELAY = 100 |
Delay between erasing the flash and starting the flash reprogrammation.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_FAIL = 3 |
The error code for receiving a FAIL from the DSP.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_COMMANDSIZE = 6 |
Parameter [Command's size] index in the JACO header.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_IDCOMMAND = 4 |
Parameter [Command's id] index in the JACO header.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_IDPACKET = 0 |
Parameter [Packet's id] index in the JACO header.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_HEADER_PACKETQTY = 2 |
Parameter [Packet quantity] in the JACO header.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_NACK_FIRST = 1 |
The error code for receiving a NACK on the first packet from the DSP.
| const int Kinova.DLL.CommData.General.CCommDef.JACO_NACK_NORMAL = 2 |
The error code for receiving a NACK on any packet except the first from the DSP.
| const short Kinova.DLL.CommData.General.CCommDef.KINOVA_DATA_SIZE = USB_PACKET_SIZE |
Size of the data portion in a kinova USB packet.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_ACK = 8 |
Parameter [ACK/NACK] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_DEST = 4 |
Parameter [destination] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_ERROR = 12 |
Parameter [error] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_OPTION = 10 |
Parameter [option] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SIZE = 16 |
Kinova header's size in byte.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SOURCE = 0 |
Parameter [source] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_HEADER_SPEED = 9 |
Parameter [speed] index in the Kinova header.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_0 = 4 |
The error code for receiving a type 0 error from the USBManager.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_1 = 5 |
The error code for receiving a type 1 error from the USBManager.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_2 = 6 |
The error code for receiving a type 2 error from the USBManager.
| const int Kinova.DLL.CommData.General.CCommDef.KINOVA_NACK_ERROR_3 = 7 |
The error code for receiving a type 3 error from the USBManager.
| const short Kinova.DLL.CommData.General.CCommDef.KINOVA_PACKET_SIZE = USB_PACKET_SIZE + KINOVA_HEADER_SIZE |
| const int Kinova.DLL.CommData.General.CCommDef.PACKET_PER_PAGE_QTY = 40 |
Quantity of packet in a flash page.
| const int Kinova.DLL.CommData.General.CCommDef.PAGE_SIZE = 2048 |
The size in byte of a flash page inside the DSP.
| const int Kinova.DLL.CommData.General.CCommDef.PAGEPACKET_SIZE = 52 |
Packet size of a flash page.
| const short Kinova.DLL.CommData.General.CCommDef.USB_DATA_SIZE = 56 |
Size of the data within a packet.
| const int Kinova.DLL.CommData.General.CCommDef.USB_HEADER_SIZE = 8 |
Size of the header within a packet.
| const short Kinova.DLL.CommData.General.CCommDef.USB_PACKET_SIZE = USB_DATA_SIZE + USB_HEADER_SIZE |
Size of the JACO USB packet.
| const long Kinova.DLL.CommData.General.CCommDef.WRITTING_PAGE_DELAY = 10 |
Delay between the write of each flash pages