#include <ArGripper.h>
Public Types | |
enum | Type { QUERYTYPE, GENIO, USERIO, GRIPPAC, NOGRIPPER } |
These are the types for the gripper. More... | |
Public Member Functions | |
ArGripper (ArRobot *robot, int gripperType=QUERYTYPE) | |
Constructor. | |
void | connectHandler (void) |
The handler for when the robot connects. | |
int | getBreakBeamState (void) const |
Returns the state of the gripper's breakbeams. | |
int | getGraspTime (void) const |
Gets the grasp time. | |
int | getGripState (void) const |
Returns the state of the gripper paddles. | |
long | getMSecSinceLastPacket (void) const |
Gets the number of mSec since the last gripper packet. | |
int | getPaddleState (void) const |
Returns the state of each gripper paddle. | |
int | getType (void) const |
Gets the type of the gripper. | |
bool | gripClose (void) |
Closes the gripper paddles. | |
bool | gripOpen (void) |
Opens the gripper paddles. | |
bool | gripperDeploy (void) |
Puts the gripper in a deployed position, ready for use. | |
bool | gripperHalt (void) |
Halts the lift and the gripper paddles. | |
bool | gripperStore (void) |
Puts the gripper in a storage position. | |
bool | gripPressure (int mSecIntervals) |
Sets the amount of pressure the gripper applies. | |
bool | gripStop (void) |
Stops the gripper paddles. | |
bool | isGripMoving (void) const |
Returns true if the gripper paddles are moving. | |
bool | isLiftMaxed (void) const |
Returns the state of the lift. | |
bool | isLiftMoving (void) const |
Returns true if the lift is moving. | |
bool | liftCarry (int mSecIntervals) |
Raises the lift by a given amount of time. | |
bool | liftDown (void) |
Lowers the lift to the bottom. | |
bool | liftStop (void) |
Stops the lift. | |
bool | liftUp (void) |
Raises the lift to the top. | |
void | logState (void) const |
logs the gripper state | |
bool | packetHandler (ArRobotPacket *packet) |
Parses the gripper packet. | |
void | setType (int type) |
Sets the type of the gripper. | |
virtual | ~ArGripper () |
Destructor. | |
Protected Attributes | |
ArFunctorC< ArGripper > | myConnectCB |
unsigned char | myGraspTime |
ArTime | myLastDataTime |
ArRetFunctor1C< bool, ArGripper, ArRobotPacket * > | myPacketHandlerCB |
ArRobot * | myRobot |
unsigned char | myState |
unsigned char | mySwitches |
int | myType |
|
These are the types for the gripper.
|
|
Constructor.
|
|
Returns the state of the gripper's breakbeams.
|
|
Gets the grasp time. If you are using this as anything other than GRIPPAC and you want to find out the grasp time again, just do a setType with QUERYTYPE and it will query the robot again and get the grasp time from the robot.
|
|
Returns the state of the gripper paddles.
|
|
Gets the number of mSec since the last gripper packet.
|
|
Returns the state of each gripper paddle.
|
|
Gets the type of the gripper.
|
|
Closes the gripper paddles.
|
|
Opens the gripper paddles.
|
|
Puts the gripper in a deployed position, ready for use.
|
|
Halts the lift and the gripper paddles.
|
|
Puts the gripper in a storage position.
|
|
Sets the amount of pressure the gripper applies.
|
|
Stops the gripper paddles.
|
|
Returns true if the gripper paddles are moving.
|
|
Returns the state of the lift.
|
|
Returns true if the lift is moving.
|
|
Raises the lift by a given amount of time.
|
|
Lowers the lift to the bottom.
|
|
Stops the lift.
|
|
Raises the lift to the top.
|
|
Sets the type of the gripper.
|