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; }