generated by zdoc.tcl on Thu Feb 14 16:15:14 MET 2002

tclForceFeedback.tcl



ffback
Comments  
Arguments  
Used by  
Uses  
    
}


ffback::installDirectLIEMenu
Comments  
Arguments viewer
camera
lie
bg
Used by  
Uses  
proc ffback::installDirectLIEMenu { viewer camera lie bg } {
    menubutton $viewer.context.display -text "Display" -menu $viewer.context.display.m -anchor w -bg $bg
    set mdis [menu $viewer.context.display.m -bg $bg]
    $mdis add command -label "Focus on LIE" -command "evaluate \"$camera -focusOnRegion \[$lie -LIEInfo endPoint\] \[$lie -length\]\""
    $mdis add command -label "Material..." -command "camera3D::materialBasic $lie $bg"
    $mdis add command -label "Destroy" -command "evaluate \"$lie -destroy\""
    pack  $viewer.context.display -side left

    menubutton $viewer.context.calib -text "Calibration" -menu $viewer.context.calib.m -anchor w -bg $bg
    set mcal [menu $viewer.context.calib.m -bg $bg]
    $mcal add command -label "Calibrate Center Position" -command "evaluate \"$lie -resetCenterPosition\""
    $mcal add command -label "Calibrate Closed Gripper" -command "evaluate \"$lie -resetClosedGripper\""
    $mcal add command -label "Calibrate Opened Gripper" -command "evaluate \"$lie -resetOpenedGripper\""
    $mcal add cascade -label "Motors..." -menu $mcal.motors
    menu $mcal.motors  -bg $bg -tearoff 0
    $mcal.motors add command -label "init" -command "evaluate \"$lie -motor init\""
    $mcal.motors add command -label "reset" -command "evaluate \"$lie -motor reset\""
    $mcal.motors add command -label "stop" -command "evaluate \"$lie -motor stop\""
    pack  $viewer.context.calib -side left
    
    installTypeMenu $viewer $camera $lie $bg

    menubutton $viewer.context.record  -text "Record" -menu $viewer.context.record.m -anchor w -bg $bg
    set mrec [menu $viewer.context.record.m -bg $bg -postcommand "scan \[$lie -recordPosition\] {%s} ffback::record"]
    $mrec add radio -selectcolor "black" -label "Record Position" -variable ffback::record -value "true" -command "evaluate \"$lie -recordPosition switch\""
    $mrec add command -label "Save ..." -command "evaluate \"$lie -save \[ tk_getSaveFile -filetypes \{\{\"LIE\" \{.lie\} \}\} -initialfile $lie.lie -title \{\"Select a Name for the File LIE\}\]\""
    pack  $viewer.context.record -side left
}


ffback::installDirectPhantomMenu
Comments  
Arguments viewer
camera
phantom
bg
Used by  
Uses  
proc ffback::installDirectPhantomMenu { viewer camera phantom bg } {
    menubutton $viewer.context.display -text "Display" -menu $viewer.context.display.m -anchor w -bg $bg
    set mdis [menu $viewer.context.display.m -bg $bg]
    $mdis add command -label "Focus on Phantom" -command "evaluate \"$camera -focusOnRegion \[$phantom -phantomInfo tipPos\] \[$phantom -phantomLength\]\""
    $mdis add command -label "Material..." -command "camera3D::materialBasic $phantom $bg"
    $mdis add checkbutton -selectcolor "black" -label "Show Workspace Bounds" -variable showWkBounds -onvalue true -offvalue false -command "evaluate \"$phantom -showBounds \$showWkBounds\""

    pack  $viewer.context.display -side left

    menubutton $viewer.context.servol -text "Servo Loop" -menu $viewer.context.servol.m -anchor w -bg $bg
    set mcal [menu $viewer.context.servol.m -bg $bg]
    $mcal add command -label "Start Servo Loop" -command "evaluate \"$phantom -loop start\""
    $mcal add command -label "Stop Servo Loop" -command "evaluate \"$phantom -loop stop\""
    pack  $viewer.context.servol -side left

    menubutton $viewer.context.forceo -text "Force Output" -menu $viewer.context.forceo.m -anchor w -bg $bg
    set mcal [menu $viewer.context.forceo.m -bg $bg]
    $mcal add command -label "Enable" -command "evaluate \"$phantom -force enable\""
    $mcal add command -label "Disable" -command "evaluate \"$phantom -force disable\""
    $mcal add command -label "Reset" -command "evaluate \"$phantom -force reset\""
    pack  $viewer.context.forceo -side left

    #      menubutton $viewer.context.calib -text "Calibrate" -menu $viewer.context.calib.m -anchor w -bg $bg
    #     set mcal [menu $viewer.context.calib.m -bg $bg]
    #      $mcal add command -label "Reset Coordinate System" -command "evaluate \"$phantom -resetCoordinateSystem\""
    #      pack  $viewer.context.calib -side left

}


ffback::installFileLIEMenu
Comments  
Arguments viewer
camera
lie
bg
Used by  
Uses  
proc ffback::installFileLIEMenu { viewer camera lie bg } {
    menubutton $viewer.context.sequence -text "Sequence" -menu $viewer.context.sequence.m -anchor w -bg $bg
    set mseq [menu $viewer.context.sequence.m -bg $bg]
    $mseq add command -label "Start Sequence" -command "evaluate \"$lie -sequence start\""
    $mseq add command -label "Pause Sequence" -command "evaluate \"$lie -sequence pause\""
    $mseq add command -label "Restart Sequence" -command "evaluate \"$lie -sequence restart\""
    $mseq add command -label "Stop Sequence" -command "evaluate \"$lie -sequence stop\""
    $mseq add cascade -label "Infinite Loop" -menu   $mseq.sub1
    menu  $mseq.sub1 -tearoff 0 -postcommand "scan \[$lie -infiniteLoop \] {%s} ffback::infiniteLoop"
    $mseq.sub1 add radio -selectcolor "black" -label "True" -variable ffback::infiniteLoop -value "true" -command "evaluate \"$lie -infiniteLoop true\""
    $mseq.sub1 add radio -selectcolor "black" -label "False" -variable ffback::infiniteLoop -value "false" -command "evaluate \"$lie -infiniteLoop false\""
    $mseq add cascade -label "use Real Time" -menu   $mseq.sub2
    menu  $mseq.sub2 -tearoff 0 -postcommand "scan \[$lie -useSynchronization \] {%s} ffback::useSynchronization"
    $mseq.sub2 add radio -selectcolor "black" -label "True" -variable ffback::useSynchronization -value "true" -command "evaluate \"$lie -useSynchronization true\""
    $mseq.sub2 add radio -selectcolor "black" -label "False" -variable ffback::useSynchronization -value "false" -command "evaluate \"$lie -useSynchronization false\""
    pack  $viewer.context.sequence -side left

    menubutton $viewer.context.display -text "Display" -menu $viewer.context.display.m -anchor w -bg $bg
    set mdis [menu $viewer.context.display.m -bg $bg]
    $mdis add command -label "Focus on LIE" -command "evaluate \"$camera -focusOnRegion \[$lie -LIEInfo endPoint\] \[$lie -length\]\""
    $mdis add command -label "Material..." -command "camera3D::materialBasic $lie $bg"
    $mdis add command -label "Destroy" -command "evaluate \"$lie -destroy\""
    pack  $viewer.context.display -side left
    installTypeMenu $viewer $camera $lie $bg
}


ffback::installTypeMenu
Comments  
Arguments viewer
camera
lie
bg
Used by  
Uses  
proc ffback::installTypeMenu {viewer camera lie bg} {

    menubutton $viewer.context.type -text "Tool" -menu $viewer.context.type.m -anchor w -bg $bg

    set mtyp [menu $viewer.context.type.m -bg $bg -postcommand "scan \[$lie -tooltype\] {%s} ffback::type"]
    
    $mtyp add radio -selectcolor "black" -label "Cautery" -variable ffback::type -value "cautery" -command "evaluate \"$lie -tooltype cautery\""
    $mtyp add radio -selectcolor "black" -label "Pliers" -variable ffback::type -value "pliers" -command "evaluate \"$lie -tooltype pliers\""
    $mtyp add radio -selectcolor "black" -label "Cavitron" -variable ffback::type -value "cavitron" -command "evaluate \"$lie -tooltype cavitron\""
    $mtyp add radio -selectcolor "black" -label "Clamp" -variable ffback::type -value "clamp" -command "evaluate \"$lie -tooltype clamp\""
    pack  $viewer.context.type -side left
}


ffback::uninstallDirectLIEMenu
Comments  
Arguments viewer
camera
lie
Used by  
Uses  
proc ffback::uninstallDirectLIEMenu { viewer camera lie} {
    set list [winfo children $viewer.context]
    foreach w $list { destroy $w}
    pack $viewer.context -fill x
}


ffback::uninstallDirectPhantomMenu
Comments  
Arguments viewer
camera
phantom
Used by  
Uses  
proc ffback::uninstallDirectPhantomMenu { viewer camera phantom} {
    set list [winfo children $viewer.context]
    foreach w $list { destroy $w}
    pack $viewer.context -fill x
}


ffback::uninstallFileLIEMenu
Comments  
Arguments viewer
camera
lie
Used by  
Uses  
proc ffback::uninstallFileLIEMenu { viewer camera lie} {
    set list [winfo children $viewer.context]
    foreach w $list { destroy $w}
    pack $viewer.context -fill x
}