Provides an interface to the Pioneer gripper device. More...

#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. More...

void	connectHandler (void)
	The handler for when the robot connects.

int	getBreakBeamState (void) const
	Returns the state of the gripper's breakbeams. More...

int	getGraspTime (void) const
	Gets the grasp time. More...

int	getGripState (void) const
	Returns the state of the gripper paddles. More...

long	getMSecSinceLastPacket (void) const
	Gets the number of mSec since the last gripper packet. More...

int	getPaddleState (void) const
	Returns the state of each gripper paddle. More...

int	getType (void) const
	Gets the type of the gripper. More...

bool	gripClose (void)
	Closes the gripper paddles. More...

bool	gripOpen (void)
	Opens the gripper paddles. More...

bool	gripperDeploy (void)
	Puts the gripper in a deployed position, ready for use. More...

bool	gripperHalt (void)
	Halts the lift and the gripper paddles. More...

bool	gripperStore (void)
	Puts the gripper in a storage position. More...

bool	gripPressure (int mSecIntervals)
	Sets the amount of pressure the gripper applies. More...

bool	gripStop (void)
	Stops the gripper paddles. More...

bool	isGripMoving (void) const
	Returns true if the gripper paddles are moving. More...

bool	isLiftMaxed (void) const
	Returns the state of the lift. More...

bool	isLiftMoving (void) const
	Returns true if the lift is moving. More...

bool	liftCarry (int mSecIntervals)
	Raises the lift by a given amount of time. More...

bool	liftDown (void)
	Lowers the lift to the bottom. More...

bool	liftStop (void)
	Stops the lift. More...

bool	liftUp (void)
	Raises the lift to the top. More...

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. More...

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

Detailed Description

Provides an interface to the Pioneer gripper device.

Examples:: gripperExample.cpp.

Member Enumeration Documentation

◆ Type

enum ArGripper::Type

These are the types for the gripper.

Enumerator
QUERYTYPE	Finds out what type from the robot, default.
GENIO	Uses general IO.
USERIO	Uses the user IO.
GRIPPAC	Uses a packet requested from the robot.
NOGRIPPER	There isn't a gripper.

Constructor & Destructor Documentation

◆ ArGripper()

ArGripper::ArGripper	(	ArRobot *	robot,
		int	gripperType = `QUERYTYPE`
	)

Constructor.

Parameters

robot	The robot this gripper is attached to
gripperType	How to communicate with the gripper: see ArGripper::Type. The default, QUERYTYPE, will work with most robot configurations with a recent firmware version.

Member Function Documentation

◆ getBreakBeamState()

int ArGripper::getBreakBeamState ( void ) const

Returns the state of the gripper's breakbeams.

Returns: 0 if no breakbeams broken, 1 if inner breakbeam broken, 2 if outter breakbeam broken, 3 if both breakbeams broken

◆ getGraspTime()

int ArGripper::getGraspTime ( void ) const

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 number of 20 MSec intervals the gripper will continue grasping for after both paddles are triggered

◆ getGripState()

int ArGripper::getGripState ( void ) const

Returns the state of the gripper paddles.

Returns: 0 if gripper paddles between open and closed, 1 if gripper paddles are open, 2 if gripper paddles are closed

◆ getMSecSinceLastPacket()

long ArGripper::getMSecSinceLastPacket ( void ) const

Gets the number of mSec since the last gripper packet.

Returns: the number of milliseconds since the last packet

◆ getPaddleState()

int ArGripper::getPaddleState ( void ) const

Returns the state of each gripper paddle.

Returns: 0 if no gripper paddles are triggered, 1 if the left paddle is triggered, 2 if the right paddle is triggered, 3 if both are triggered

◆ getType()

int ArGripper::getType ( void ) const

Gets the type of the gripper.

Returns: the gripper type

See also: Type

Examples:: gripperExample.cpp.

◆ gripClose()

bool ArGripper::gripClose ( void )

Closes the gripper paddles.

Returns: whether the command was sent to the robot or not

Examples:: gripperExample.cpp.

◆ gripOpen()

bool ArGripper::gripOpen ( void )

Opens the gripper paddles.

Returns: whether the command was sent to the robot or not

Examples:: gripperExample.cpp.

◆ gripperDeploy()

bool ArGripper::gripperDeploy ( void )

Puts the gripper in a deployed position, ready for use.

Returns: whether the command was sent to the robot or not

◆ gripperHalt()

bool ArGripper::gripperHalt ( void )

Halts the lift and the gripper paddles.

Returns: whether the command was sent to the robot or not

Examples:: gripperExample.cpp.

◆ gripperStore()

bool ArGripper::gripperStore ( void )

Puts the gripper in a storage position.

Returns: whether the command was sent to the robot or not

◆ gripPressure()

bool ArGripper::gripPressure ( int mSecIntervals )

Sets the amount of pressure the gripper applies.

Returns: whether the command was sent to the robot or not

◆ gripStop()

bool ArGripper::gripStop ( void )

Stops the gripper paddles.

Returns: whether the command was sent to the robot or not

◆ isGripMoving()

bool ArGripper::isGripMoving ( void ) const

Returns true if the gripper paddles are moving.

Returns: true if the gripper paddles are moving

◆ isLiftMaxed()

bool ArGripper::isLiftMaxed ( void ) const

Returns the state of the lift.

Returns: false if lift is between up and down, true is either all the way up or down

◆ isLiftMoving()

bool ArGripper::isLiftMoving ( void ) const

Returns true if the lift is moving.

Returns: true if the lift is moving

◆ liftCarry()

bool ArGripper::liftCarry ( int mSecIntervals )

Raises the lift by a given amount of time.

Returns: whether the command was sent to the robot or not

◆ liftDown()

bool ArGripper::liftDown ( void )

Lowers the lift to the bottom.

Returns: whether the command was sent to the robot or not

Examples:: gripperExample.cpp.

◆ liftStop()

bool ArGripper::liftStop ( void )

Stops the lift.

Returns: whether the command was sent to the robot or not

◆ liftUp()

bool ArGripper::liftUp ( void )

Raises the lift to the top.

Returns: whether the command was sent to the robot or not

Examples:: gripperExample.cpp.

◆ setType()

void ArGripper::setType ( int type )

Sets the type of the gripper.