Accessing devices in programs

All connected and configured Devices can be accessed via static methods of the class RoboticsRegistry. When a Robotics API application is started, Devices are registered there according to their configurations (if these are correct) and can be retrieved.

The RoboticsRegistry provides two static methods:

• RoboticsRegistry.get(Class<T> type) queries for Devices of a certain type (or types derived from that). A list of all matching Devices is returned.
• RoboticsRegistry.get(String name, Class<T> type) queries for a Device with the given, unique name that is of a certain type. The Device will be returned, or null, if such a Device does not exist.

Here are a few examples for accessing a Light Weight Robot device:

• Accessing a Light Weight Robot by type (multiple results possible):
  LWR lwr = RoboticsRegistry.get(LWR.class).get(0);
• Accessing a Light Weight Robot by name and type:
  LWR lwr = RoboticsRegistry.get("lwr", LWR.class);