Module com.marginallyclever.ro3

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, PropertyChangeListener, EventListener

public class MarlinRobotArm
extends MarlinRobot
implements PropertyChangeListener

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

To work it requires:

• a Limb of no more than six Motors for solving kinematics
• an optional Motor for the tool on the End Effector.

The gcode generated uses the Motor names. To make it work for your robot make sure the names match Marlin's expectations.

Field Summary

Fields

Modifier and Type	Field	Description
final NodePath<Limb>	limb

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

ICON

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()
String	getMotorsAndFeedrateAsString()
Pose	getTarget()
void	propertyChange(PropertyChangeEvent evt)
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.
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, hasChild, 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

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.

getMotorsAndFeedrateAsString

public String getMotorsAndFeedrateAsString()

Overrides:

getMotorsAndFeedrateAsString in class MarlinRobot

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

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.

propertyChange

public void propertyChange(PropertyChangeEvent evt)

Specified by:

propertyChange in interface PropertyChangeListener