riq_hand_ethercat_hardware::RIQHandStateEcat Struct Reference

#include <riq_hand_state.h>

List of all members.

Public Types
enum	{   NO_FAULT = 0x00, FAULT_NEED_INITIALIZATION_TO_COMPLETE = 0x11, FAULT_NEED_MODE_CHANGE_TO_COMPLETE = 0x12, FAULT_COMMUNICATION_TIMEOUT = 0x21,   FAULT_INSUFFICIENT_SUPPLY_VOLTAGE = 0x22, FAULT_CHANGING_MODE_INTERFERENCE_SCISSORS = 0x31, FAULT_OPENING_INTERFERENCE_FINGERS = 0x32, FAULT_OPENING_INTERFERENCE_SCISSORS = 0x33,   FAULT_CLOSING_INTERFERENCE_FINGERS = 0x34, FAULT_CLOSING_INTERFERENCE_SCISSORS = 0x35, FAULT_MAJOR_SCISSORS_DISPLACEMENT = 0x41, FAULT_MAJOR_FINGER_DISPLACEMENT = 0x42 }
Public Member Functions
const char *	faultString () const
	Error string lookup table for fault error code.
Static Public Member Functions
static double	convertCurrent (unsigned current)
	Converts raw current value, to value in Amps.
static double	convertPosition (unsigned position)
	Converts position value in range from 0-255, to range between 0.0-1.0.
static const char *	faultString (unsigned fault)
	Error string lookup table for fault error code.
Public Attributes
uint8_t	fault_status_
RIQGripperStatus	gripper_status_
uint8_t	left_finger_current_
uint8_t	left_finger_position_
RIQObjectStatus	object_status_
uint8_t	reserved_
uint8_t	right_finger_current_
uint8_t	right_finger_position_
uint8_t	scissors_current_
uint8_t	scissors_position_
uint8_t	thumb_current_
uint8_t	thumb_position_

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Detailed Description

Definition at line 104 of file riq_hand_state.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

NO_FAULT
FAULT_NEED_INITIALIZATION_TO_COMPLETE
FAULT_NEED_MODE_CHANGE_TO_COMPLETE
FAULT_COMMUNICATION_TIMEOUT
FAULT_INSUFFICIENT_SUPPLY_VOLTAGE
FAULT_CHANGING_MODE_INTERFERENCE_SCISSORS
FAULT_OPENING_INTERFERENCE_FINGERS
FAULT_OPENING_INTERFERENCE_SCISSORS
FAULT_CLOSING_INTERFERENCE_FINGERS
FAULT_CLOSING_INTERFERENCE_SCISSORS
FAULT_MAJOR_SCISSORS_DISPLACEMENT
FAULT_MAJOR_FINGER_DISPLACEMENT

Definition at line 119 of file riq_hand_state.h.

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Member Function Documentation

double riq_hand_ethercat_hardware::RIQHandStateEcat::convertCurrent

(

unsigned

current

)

[static]

Converts raw current value, to value in Amps.

Definition at line 141 of file riq_hand_state.cpp.

double riq_hand_ethercat_hardware::RIQHandStateEcat::convertPosition

(

unsigned

position

)

[static]

Converts position value in range from 0-255, to range between 0.0-1.0.

Definition at line 135 of file riq_hand_state.cpp.

const char* riq_hand_ethercat_hardware::RIQHandStateEcat::faultString

(

)

const [inline]

Error string lookup table for fault error code.

Definition at line 136 of file riq_hand_state.h.

const char * riq_hand_ethercat_hardware::RIQHandStateEcat::faultString

(

unsigned

fault

)

[static]

Error string lookup table for fault error code.

Definition at line 101 of file riq_hand_state.cpp.

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Member Data Documentation

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::fault_status_

Definition at line 109 of file riq_hand_state.h.

RIQGripperStatus riq_hand_ethercat_hardware::RIQHandStateEcat::gripper_status_

Definition at line 106 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::left_finger_current_

Definition at line 116 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::left_finger_position_

Definition at line 112 of file riq_hand_state.h.

RIQObjectStatus riq_hand_ethercat_hardware::RIQHandStateEcat::object_status_

Definition at line 107 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::reserved_

Definition at line 108 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::right_finger_current_

Definition at line 115 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::right_finger_position_

Definition at line 111 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::scissors_current_

Definition at line 117 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::scissors_position_

Definition at line 113 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::thumb_current_

Definition at line 114 of file riq_hand_state.h.

uint8_t riq_hand_ethercat_hardware::RIQHandStateEcat::thumb_position_

Definition at line 110 of file riq_hand_state.h.

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

• riq_hand_state.h
• riq_hand_state.cpp