14 lines
446 B
C++
14 lines
446 B
C++
#ifndef _ROBOT_CONTROL_
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#define _ROBOT_CONTROL_
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#include "DynamixelHandler.h"
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#include "Kinematics.h"
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void initRobot(DynamixelHandler& dxlHandler, std::string portName, float protocol, int baudRate);
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void closeRobot(DynamixelHandler& dxlHandler);
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void moveJoint(DynamixelHandler& dxlHandler, float q1, float q2, float q3, float qgripper);
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void openGripper(DynamixelHandler& dxlHandler);
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void closeGripper(DynamixelHandler& dxlHandler);
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#endif |