#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 |
| enum ArGripper::Type |
1.5.1