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 |
|
|
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