void mtsIntuitiveResearchKitArm::Run(void)
{
ProcessQueuedEvents();
GetRobotData();
switch (RobotState) {
case mtsIntuitiveResearchKitArmTypes::DVRK_UNINITIALIZED:
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_HOMING_POWERING:
RunHomingPower();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_HOMING_CALIBRATING_ARM:
RunHomingCalibrateArm();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_ARM_CALIBRATED:
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_READY:
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_JOINT:
RunPositionJoint();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_GOAL_JOINT:
RunPositionGoalJoint();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_CARTESIAN:
RunPositionCartesian();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_POSITION_GOAL_CARTESIAN:
RunPositionGoalCartesian();
break;
case mtsIntuitiveResearchKitArmTypes::DVRK_MANUAL:
break;
default:
RunArmSpecific();
break;
}
RunEvent();
ProcessQueuedCommands();
mCounter++;
CartesianGetPrevious = CartesianGet;
}
void mtsIntuitiveResearchKitPSM::Run(void)
{
Counter++;
ProcessQueuedEvents();
GetRobotData();
switch (RobotState) {
case PSM_UNINITIALIZED:
break;
case PSM_HOMING_POWERING:
RunHomingPower();
break;
case PSM_HOMING_CALIBRATING_ARM:
RunHomingCalibrateArm();
break;
case PSM_ARM_CALIBRATED:
break;
case PSM_ENGAGING_ADAPTER:
RunEngagingAdapter();
break;
case PSM_ADAPTER_ENGAGED:
// choose next state
break;
case PSM_ENGAGING_TOOL:
RunEngagingTool();
break;
case PSM_READY:
case PSM_POSITION_CARTESIAN:
RunPositionCartesian();
break;
case PSM_MANUAL:
break;
default:
break;
}
RunEvent();
ProcessQueuedCommands();
}
void mtsIntuitiveResearchKitMTM::Run(void)
{
ProcessQueuedEvents();
GetRobotData();
switch (RobotState) {
case mtsIntuitiveResearchKitMTMTypes::MTM_UNINITIALIZED:
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_POWERING:
RunHomingPower();
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_CALIBRATING_ARM:
RunHomingCalibrateArm();
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_HOMING_CALIBRATING_ROLL:
RunHomingCalibrateRoll();
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_READY:
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_POSITION_CARTESIAN:
RunPositionCartesian();
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_GRAVITY_COMPENSATION:
RunGravityCompensation();
break;
case mtsIntuitiveResearchKitMTMTypes::MTM_CLUTCH:
RunClutch();
default:
break;
}
RunEvent();
ProcessQueuedCommands();
// update previous value
CartesianGetPrevious = CartesianGet;
}