Aria: ArGripperCommands Class Reference

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# 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 }

## 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