ArGripperCommands Class Reference

#include <ArGripper.h>

List of all members.

---

Detailed Description

Constains gripper command numbers.

A class with an enum of the commands for the gripper, see the Pioneer operations manual and the gripper guide for more detailed descriptions. The enum values which start with GRIP are for the gripper paddles, the ones which start with LIFT are the for the lift, and the ones which start with GRIPPER are for the entire unit.

Public Types
enum	Commands {   GRIP_OPEN = 1, GRIP_CLOSE = 2, GRIP_STOP = 3, LIFT_UP = 4,   LIFT_DOWN = 5, LIFT_STOP = 6, GRIPPER_STORE = 7, GRIPPER_DEPLOY = 8,   GRIPPER_HALT = 15, GRIP_PRESSURE = 16, LIFT_CARRY = 17 }
	GRIP_CLOSE = 2
	close the gripper paddles all the way
	GRIP_OPEN = 1
	open the gripper paddles fully
	GRIP_PRESSURE = 16
	GRIP_STOP = 3
	stop the gripper paddles where they are
	GRIPPER_DEPLOY = 8
	GRIPPER_HALT = 15
	stops the gripper paddles and lift from moving
	GRIPPER_STORE = 7
	LIFT_CARRY = 17
	LIFT_DOWN = 5
	lowers the lift to the bottom of its range
	LIFT_STOP = 6
	stops the lift where it is
	LIFT_UP = 4
	raises the lift to the top of its range

---

Member Enumeration Documentation

enum ArGripperCommands::Commands

Enumerator:

GRIP_OPEN	open the gripper paddles fully
GRIP_CLOSE	close the gripper paddles all the way
GRIP_STOP	stop the gripper paddles where they are
LIFT_UP	raises the lift to the top of its range
LIFT_DOWN	lowers the lift to the bottom of its range
LIFT_STOP	stops the lift where it is
GRIPPER_STORE	closes the paddles and raises the lift simultaneously, this is for storage not for grasping/carrying an object
GRIPPER_DEPLOY	opens the paddles and lowers the lieft simultaneously, this is for getting ready to grasp an object, not for object drops
GRIPPER_HALT	stops the gripper paddles and lift from moving
GRIP_PRESSURE	sets the time delay in 20 msec increments after the gripper paddles first grasp an object before they stop moving, regulates grasp pressure
LIFT_CARRY	raises or lowers the lieft, the argument is the number of 20 msec increments to raise or lower the lift, poseitive arguments for raise, negative for lower

---

The documentation for this class was generated from the following file:

• ArGripper.h

---