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player_gripper_data Struct Reference [gripper] #include <player.h> List of all members. Detailed Description 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). The following list defines how the data can be interpreted for some Pioneer robots and Stage: 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 Public Attributes uint8_t  state uint8_t  beams Member Data Documentation uint8_t player_gripper_data::state   The current gripper lift and breakbeam state uint8_t player_gripper_data::beams   The current gripper lift and breakbeam state The documentation for this struct was generated from the following file: player.h