39 lines
1.1 KiB
C
39 lines
1.1 KiB
C
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#ifndef __UNITREEARM_H
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#define __UNITREEARM_H
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#include "control/ctrlComponents.h"
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class unitreeArm{
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public:
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unitreeArm(CtrlComponents * ctrlComp);
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~unitreeArm();
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void setFsm(ArmFSMState fsm);
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void backToStart();
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void labelRun(std::string label);
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void labelSave(std::string label);
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void teach(std::string label);
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void teachRepeat(std::string label);
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void calibration();
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void MoveJ(Vec6 posture, double maxSpeed );
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void MoveJ(Vec6 posture, double gripperPos, double maxSpeed);
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void MoveL(Vec6 posture, double maxSpeed);
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void MoveL(Vec6 posture, double gripperPos, double maxSpeed);
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void MoveC(Vec6 middlePosutre, Vec6 endPosture, double maxSpeed);
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void MoveC(Vec6 middlePosutre, Vec6 endPosture, double gripperPos, double maxSpeed);
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void setTraj();
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void startTraj();
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void startTrack(ArmFSMState fsm);
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void sendRecv();
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Vec6 q, qd, tau;
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Vec6 qPast, qdPast, tauPast;
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double gripperQ, gripperW, gripperTau;
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TrajCmd _trajCmd;
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CtrlComponents *_ctrlComp;
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LoopFunc *sendRecvThread;
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};
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#endif
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