\input manualMacros.tex
\manBegin
\manPageInfo{RCCL Reference Manual}{}{}
\manTitle{rcclStart}{3}
\manSection{NAME}
{\rightskip=0ptplus1fil
{\tt \manName{rcclStart}},
{\tt \manName{rcclRelease}}
-- routines to start and stop the RCCL trajectory generator.
}
\manSection{USAGE}
\cverbatim
rcclStart()

rcclRelease(powerOff)
  int powerOff; @endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt powerOff} --}
Boolean specifying whether or not robot arm power should be turned off.
\manSection{RESTRICTIONS}
These routines must be called from the planning level.
\manSection{DESCRIPTION}
These routines activate and deactivate the RCCL trajectory generator task.
The trajectory generator computes the setpoints to satisfy
the motion requests for all the manipulators within the RCCL
program. It also runs the application-defined
transform and monitor functions (such as those established with
{\tt transEval()} and {\tt runMonitorFxn()}).
Calls to {\tt rcclCreate()} or
{\tt rcclDelete()} are not allowed while the trajectory generator is
running.

{\tt rcclStart()} turns the trajectory generator on.

{\tt rcclRelease()} turns the trajectory generator off, and also
turns off the robot arm power if {\tt powerOff} is set true
(although this can be overridden by the option 
{\tt RCCL_LEAVE_POWER_ON}; see {\tt rcclSetOptions(3)}).
The motion queues for the manipulators
are flushed, and all outstanding motion requests are cancelled.

\manSection{DIAGNOSTICS}
These routines return {\tt -1} in the event of an error.
They will automatically abort the program if the option {\tt RCCL_ERROR_EXIT} is
set (see {\tt rcclSetOptions(3)}). 
Error codes and messages are placed on the {\it errorStack} (q.v.). 
The following error codes may be set:

\manItem{{\tt EInternal} --}
Unexpected internal software or communication failure.

These routines will abort the program if called from the control level.
\manSection{SEE ALSO}
\raggedright
{\tt rcclCreate(3)}, {\tt rcclSetInterval(3)}, {\tt rcclActive(3)},
{\tt transEval(3)}.
\manEnd
\end
