dynamixel_gripper_driver.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _dynamixel_gripper_driver_h_
#define _dynamixel_gripper_driver_h_

#include <iri_base_driver/iri_base_driver.h>
#include <iri_dynamixel_gripper/DynamixelGripperConfig.h>

#include <iridrivers/dynamixel_motor.h>

class DynamixelGripperDriver : public iri_base_driver::IriBaseDriver
{
  private:
    boost::shared_ptr<CDynamixelMotor> motor_;

    int           baudrate_;
    int           bus_id_;
    unsigned char servo_id_;
    double        max_angle_;
    double        min_angle_;
    double        effort_;
    bool          closed_;

  public:
    typedef iri_dynamixel_gripper::DynamixelGripperConfig Config;

    Config config_;

    DynamixelGripperDriver(void);

    bool openDriver(void);

    bool closeDriver(void);

    bool startDriver(void);

    bool stopDriver(void);

    void config_update(Config& new_cfg, uint32_t level=0);

    bool open_gripper();

    bool close_gripper();

    void stop_gripper();

    bool is_moving();

    float get_effort();

    float get_max_effort();

    float get_angle();

    ~DynamixelGripperDriver(void);

  private:
    bool move_gripper(const double position_in_radians);
};

#endif