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Subsections


6.14 gripper

Synopsis

The gripper interface provides access to a robotic gripper.

Data



struct player_gripper_data : The gripper interface returns 2 bytes that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper).

uint8_t state, beams;
The current gripper lift and breakbeam state

The following table defines how the data can be interpreted for some Pioneer robots and Stage:

Field Type Meaning
state unsigned byte bit 0: Paddles open
bit 1: Paddles closed
bit 2: Paddles moving
bit 3: Paddles error
bit 4: Lift is up
bit 5: Lift is down
bit 6: Lift is moving
bit 7: Lift error

beams
unsigned byte bit 0: Gripper limit reached
bit 1: Lift limit reached
bit 2: Outer beam obstructed
bit 3: Inner beam obstructed
bit 4: Left paddle open
bit 5: Right paddle open

Commands



struct player_gripper_cmd : The gripper interface accepts 2-byte commands, the format of which is given below. These two bytes are sent directly to the gripper; refer to Table 3-3 page 10 in the Pioneer 2 Gripper Manual[1] for a list of commands. The first byte is the command. The second is the argument for the LIFTcarry and GRIPpress commands, but for all others it is ignored.

uint8_t cmd, arg;
the command and optional argument


next up previous contents
Next: 6.15 ir Up: 6. Device Interfaces Previous: 6.13 gps   Contents
2004-06-02