gripper
[Interface specifications]
Detailed Description
An actuated gripperThegripper
interface provides access to a robotic gripper.
- Todo:
- This interface is VERY Pioneer-specific, and should really be generalized.
#define | PLAYER_GRIPPER_DATA_STATE 1 |
#define | PLAYER_GRIPPER_CMD_STATE 1 |
Command subtype: state. | |
#define | PLAYER_GRIPPER_REQ_GET_GEOM 1 |
Request/reply subtype: get geometry. | |
#define | GRIPopen 1 |
Command codes. | |
#define | GRIPclose 2 |
Command codes. | |
#define | GRIPstop 3 |
Command codes. | |
#define | LIFTup 4 |
Command codes. | |
#define | LIFTdown 5 |
Command codes. | |
#define | LIFTstop 6 |
Command codes. | |
#define | GRIPstore 7 |
Command codes. | |
#define | GRIPdeploy 8 |
Command codes. | |
#define | GRIPhalt 15 |
Command codes. | |
#define | GRIPpress 16 |
Command codes. | |
#define | LIFTcarry 17 |
Command codes. | |
typedef struct player_gripper_data | player_gripper_data_t |
typedef struct player_gripper_cmd | player_gripper_cmd_t |
typedef struct player_gripper_geom | player_gripper_geom_t |
Define Documentation
#define PLAYER_GRIPPER_DATA_STATE 1 |
Data subtype: state
Typedef Documentation
typedef struct player_gripper_cmd player_gripper_cmd_t |
Command: state (PLAYER_GRIPPER_CMD_STATE)The gripper
interface accepts 2-byte commands, the format of which is given below. These two bytes are sent directly to the gripper; refer to Table 3-3 page 10 in the Pioneer 2 Gripper Manual for a list of commands. The first byte is the command. The second is the argument for the LIFTcarry and GRIPpress commands, but for all others it is ignored.
typedef struct player_gripper_data player_gripper_data_t |
Data: state (PLAYER_GRIPPER_DATA_STATE)The gripper
interface returns 2 bytes that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper).
The following list defines how the data can be interpreted for some Pioneer robots and Stage:
- state (unsigned byte)
- bit 0: Paddles open
- bit 1: Paddles closed
- bit 2: Paddles moving
- bit 3: Paddles error
- bit 4: Lift is up
- bit 5: Lift is down
- bit 6: Lift is moving
- bit 7: Lift error
- beams (unsigned byte)
- bit 0: Gripper limit reached
- bit 1: Lift limit reached
- bit 2: Outer beam obstructed
- bit 3: Inner beam obstructed
- bit 4: Left paddle open
- bit 5: Right paddle open
typedef struct player_gripper_geom player_gripper_geom_t |
Request/reply: get geometryThe geometry (pose and size) of the gripper device can be queried by sending a null PLAYER_GRIPPER_REQ_GET_GEOM request.