Struct PFlexRobot 

pub struct PFlexRobot { /* private fields */ }

Containts the TCS client and the rail struct

Fields

• tcs_client - A TCSClient instance
• rail - A Rail instance

Implementations

impl PFlexRobot

Creates a new PFlexRobot instance and panics if it cannot connect to the robot

Arguments

• ip - A string slice that holds the IP address of the robot
• has_rail - A boolean that indicates whether the robot has a rail

pub const DEFAULT_EE_PITCH: f64 = 90f64

pub const DEFAULT_EE_ROLL: f64 = -180f64

pub fn new(ip: &str, has_rail: bool) -> Self

Creates a new PFlexRobot instance

Arguments

• ip - A string slice that holds the IP address of the robot
• has_rail - A boolean that indicates whether the robot has a rail

Returns

• A PFlexRobot instance

pub fn is_connection_alive(&mut self) -> bool

Polls the robot with a NoOp call to check the connection status

Returns

• A boolean that indicates whether the connection is alive

pub fn is_robot_attached(&mut self) -> Result<bool, RobotError>

Checks if the robot is attached

Returns

• A boolean that indicates whether the robot is attached
• A RobotError if the robot is not attached

pub fn is_robot_home(&mut self) -> Result<bool, RobotError>

Checks if the robot is homed

Returns

• A boolean that indicates whether the robot is homed
• A RobotError if the robot is not homed

pub fn attach_robot(&mut self) -> Result<(), RobotError>

Attaches to the default robot

Returns

• A RobotError if the robot cannot be attached
• Ok if the robot is attached

pub fn select_robot(&mut self) -> Result<(), RobotError>

Selects the default robot

• A RobotError if the robot cannot be selected
• Ok if the robot is selected

pub fn create_waypoint(&mut self, waypoint: Waypoint) -> Result<(), RobotError>

pub fn create_station(self)

pub fn create_motion_profile(&mut self, profile: MotionProfile)

pub fn get_home(&mut self) -> Result<Vec<String>, RobotError>

pub fn get_location(&mut self) -> Result<Vec<String>, RobotError>

pub fn get_endeffector_position( &mut self, ) -> Result<EndEffectorPosition, RobotError>

pub fn get_system_speed(&mut self) -> i32

pub fn get_all_joints(&mut self) -> Result<Vec<String>, String>

pub fn get_previous_error(&mut self) -> Result<Vec<String>, RobotError>

pub fn get_motion_state(&mut self) -> Result<Vec<String>, RobotError>

pub fn set_system_speed(&mut self, speed: i32)

pub fn set_payload(&mut self, payload: i32) -> Result<(), RobotError>

pub fn set_free_mode(&mut self, free_on: bool) -> Result<(), RobotError>

pub fn set_power(&mut self, power: bool)

pub fn set_mode(&mut self, verbose_tcs: bool) -> Result<(), RobotError>

pub fn move_gripper(&mut self, target_state: f64, motion_profile_id: i32)

pub fn move_rail(&mut self, position: f64) -> Result<(), RobotError>

pub fn move_to_cartesian( &mut self, ee_position: EndEffectorPosition, motion_profile_id: i32, ) -> Result<(), RobotError>

pub fn move_to_waypoint(&mut self, waypoint_id: i32, motion_profile_id: i32)

pub fn move_to_joints( &mut self, joint_config: Vec<&str>, ) -> Result<(), RobotError>

pub fn wait_until_static( &mut self, max_timeout_s: f64, ) -> Result<(), RobotError>

pub fn halt(&mut self) -> Result<(), RobotError>

pub fn disconnect(&mut self)

Cleanly disconnects from the robot

Trait Implementations

impl Drop for PFlexRobot

fn drop(&mut self)

Executes the destructor for this type.