Module com.marginallyclever.robotoverlord

Package com.marginallyclever.ro3.node.nodes.marlinrobot.marlinrobotarm

Class MarlinRobotArm

java.lang.Object

com.marginallyclever.ro3.node.Node

com.marginallyclever.ro3.node.nodes.marlinrobot.MarlinRobot

com.marginallyclever.ro3.node.nodes.marlinrobot.marlinrobotarm.MarlinRobotArm

All Implemented Interfaces:

SessionLayerListener

public class MarlinRobotArm
extends MarlinRobot

MarlinRobotArm converts the state of a robot arm into GCode and back.

In order to work it requires references to:

• a Limb of no more than six Motors, whose names match those in Marlin;
• a LimbSolver to calculate the inverse kinematics;
• an optional Motor for the tool on arm.

Field Summary

Fields

Modifier and Type	Field	Description
final NodePath<Limb>	limb
final NodePath<LimbSolver>	solver

Constructor Summary

Constructors

Constructor	Description
MarlinRobotArm()
MarlinRobotArm(String name)

Method Summary

Modifier and Type	Method	Description
void	fromJSON(org.json.JSONObject from)	Deserialize this node and its children from a JSON object and its children.
void	getComponents(List<JPanel> list)	Build a Swing Component that represents this Node.
NodePath<Motor>	getGripperMotor()
Pose	getTarget()
void	reset()	Equivalent to rebooting a Marlin controller.
void	sendGCode(String gcode)	Send a single gcode command to the robot.
void	setLimb(Limb limb)	Set the limb to be controlled by this instance.
void	setSolver(LimbSolver solver)	Set the solver to be used by this instance.
org.json.JSONObject	toJSON()	Serialize this node and its children to a JSON object and its children.
void	update(double dt)	Called every frame.

Methods inherited from class com.marginallyclever.ro3.node.nodes.marlinrobot.MarlinRobot

addMarlinListener, getIcon, isConnected, networkSessionEvent, removeMarlinListener

Methods inherited from class com.marginallyclever.ro3.node.Node

addAttachListener, addChild, addChild, addDetachListener, addReadyListener, addRenameListener, findByPath, findChild, findChild, findFirstChild, findFirstSibling, findNodeByID, findParent, findParent, getAbsolutePath, getChildren, getName, getParent, getRootNode, getUniqueID, hasParent, isNameUsedBySibling, removeAttachListener, removeChild, removeDetachListener, removeReadyListener, removeRenameListener, setName, witnessProtection

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

limb

public final NodePath<Limb> limb

solver

public final NodePath<LimbSolver> solver

Constructor Details

MarlinRobotArm

public MarlinRobotArm()

MarlinRobotArm

public MarlinRobotArm(String name)

Method Details

toJSON

public org.json.JSONObject toJSON()

Description copied from class: Node

Serialize this node and its children to a JSON object and its children. Classes that override this method should call super.toJSON() first, then add to the object returned.

Overrides:

toJSON in class Node

Returns:

the JSON object.

fromJSON

public void fromJSON(org.json.JSONObject from)

Description copied from class: Node

Deserialize this node and its children from a JSON object and its children. Classes that override this method should call super.fromJSON(). When they do it will trigger the creation of child nodes. The child nodes will then call their own fromJSON() methods.

Overrides:

fromJSON in class Node

Parameters:

from - the JSON object to read from.

getComponents

public void getComponents(List<JPanel> list)

Description copied from class: Node

Build a Swing Component that represents this Node.

Overrides:

getComponents in class MarlinRobot

Parameters:

list - the list to add components to.

sendGCode

public void sendGCode(String gcode)

Send a single gcode command to the robot. It will reply by firing a MarlinListener.messageFromMarlin(java.lang.String) event with the String response.

Overrides:

sendGCode in class MarlinRobot

Parameters:

gcode - GCode command

update

public void update(double dt)

Description copied from class: Node

Called every frame.

Overrides:

update in class Node

Parameters:

dt - the time since the last frame.

getTarget

public Pose getTarget()

Returns:

the target pose or null if not set.

setLimb

public void setLimb(Limb limb)

Set the limb to be controlled by this instance. limb must be in the same node tree as this instance.

Parameters:

limb - the limb to control

setSolver

public void setSolver(LimbSolver solver)

Set the solver to be used by this instance. solver must be in the same node tree as this instance.

Parameters:

solver - the solver to use

getGripperMotor

public NodePath<Motor> getGripperMotor()

reset

public void reset()

Equivalent to rebooting a Marlin controller. Should reset the state of the robot and the simulation.