rcclStart(3)

NAME
rcclStart, rcclRelease -- routines to start and stop the RCCL trajectory generator.

USAGE
rcclStart()

rcclRelease(powerOff)
  int powerOff;

ARGUMENTS

powerOff --
    Boolean specifying whether or not robot arm power should be turned off.

RESTRICTIONS
These routines must be called from the planning level.

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 transEval() and runMonitorFxn()). Calls to rcclCreate() or rcclDelete() are not allowed while the trajectory generator is running.

rcclStart() turns the trajectory generator on.

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

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

EInternal --
    Unexpected internal software or communication failure.

These routines will abort the program if called from the control level.

SEE ALSO
rcclCreate(3), rcclSetInterval(3), rcclActive(3), transEval(3).