Java Controller Examples

Example #1

File: PositionAndGMSReferencing.java Project: nachi1992/KUKA_ETH_Semester_Thesis-2015

 private void sendSafetyCommand() {
   ISunriseRequestService requestService =
       (ISunriseRequestService) (kukaController.getRequestService());
   SSR ssr = SSRFactory.createSafetyCommandSSR(GMS_REFERENCING_COMMAND);
   Message response = requestService.sendSynchronousSSR(ssr);
   int result = response.getParamInt(0);
   if (COMMAND_SUCCESSFUL != result) {
     getLogger().warn("Command did not execute successfully, response = " + result);
   }
 }

Example #2

File: PositionAndGMSReferencing.java Project: nachi1992/KUKA_ETH_Semester_Thesis-2015

 public void initialize() {
   kukaController = (Controller) getContext().getControllers().toArray()[0];
   lbr_iiwa = (LBR) kukaController.getDevices().toArray()[0];
 }