player_gripper_data Struct Reference


#include <player_interfaces.h>

List of all members.

Public Attributes

uint8_t state
 The gripper's state.
uint32_t beams
 The position of the object in the gripper.
uint8_t stored
 Number of currently stored objects.

Detailed Description


The gripper interface returns the current state of the gripper and information on a potential object in the gripper. state may be PLAYER_GRIPPER_STATE_OPEN, PLAYER_GRIPPER_STATE_CLOSED, PLAYER_GRIPPER_STAGE_MOVING or PLAYER_GRIPPER_STATE_ERROR. beams provides information on how far into the gripper an object is. For most grippers, this will be a bit mask, with each bit representing whether a beam has been interrupted or not.

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

Last updated 25 May 2011 21:17:00