Data Sheet

89
ⅵ) MotionPlay.h
(1) void All_Info_Reload(void);
Parameter
void
Returns
void
Description
Calls motion’s Info(RobotInfo, Kinematics, Trajectory)
(2) void initialize(void)
Parameter
void
Returns
void
Description
Initializes motion profile, done time, step, current time
(3) void Set_Time_Period(int MilliSecond)
Parameter
int MilliSecond
Returns
void
Description
Provides period time for motion
(4) vecd NextStepAtTime(double CurrentTime, int *ErrorStatus)
Parameter
double CurrentTime
int *ErrorStatus
Returns
Joint Angle of next Step
Description
Returns next Goal Joint Angle array
*ErrorStatus is pointer for error type
(5) veci NextStepAtTimeforHand(double CurrentTime)
Parameter
CurrentTime - current time in sec
Returns
Angle Value array of Fingers for next step
Description
Returns following Goal Joint Angle array for hand
Assumes hand is attached to arm