#include <stdint.h>
Go to the source code of this file.
Classes | |
| struct | riq_hand_ethercat_hardware::RIQActionRequest |
| struct | riq_hand_ethercat_hardware::RIQHandCommandEcat |
| struct | riq_hand_ethercat_hardware::RIQSafetyShutdown |
Namespaces | |
| namespace | riq_hand_ethercat_hardware |
Enumerations | |
| enum | { CYLINDRICAL_MODE = 0, PINCH_MODE = 1, SPHERIOD_MODE = 2, SCISSORS_MODE = 3 } |
| enum | { GRIP_STOP = 0, GRIP_OPEN = 1, GRIP_CLOSE = 2, GRIP_STOP_X = 3 } |
| enum | { OPEN_MAX = 0, OPEN_PARTIAL = 1 } |
| enum | { CLOSE_MAX = 0, CLOSE_PARTIAL = 1 } |
| enum | { SHUTDOWN_TIMEOUT_NONE = 0, SHUTDOWN_TIMEOUT_20ms = 1, SHUTDOWN_TIMEOUT_40ms = 2, SHUTDOWN_TIMEOUT_80ms = 3, SHUTDOWN_TIMEOUT_160ms = 4, SHUTDOWN_TIMEOUT_320ms = 5, SHUTDOWN_TIMEOUT_640ms = 6, SHUTDOWN_TIMEOUT_1280ms = 7, SHUTDOWN_TIMEOUT_2560ms = 8, SHUTDOWN_TIMEOUT_5120ms = 9, SHUTDOWN_TIMEOUT_10240ms = 10 } |
Functions | |
| struct { | |
| uint8_t grip_: 2 | |
| Gripper grasp mode. | |
| uint8_t initialize_: 1 | |
| uint8_t mode_: 2 | |
| When set to 0 will reset gripper, setting to 1 will initialize gripper. | |
| uint8_t parital_open_: 1 | |
| Open,Close,Stop. | |
| uint8_t partial_close_: 1 | |
| Open all the way, or stop at given position. | |
| uint8_t reserved: 1 | |
| Close all the way, or stop at given position. | |
| } | __attribute__ ((__packed__)) |
| struct riq_hand_ethercat_hardware::ECatALStatus | riq_hand_ethercat_hardware::__attribute__ ((__packed__)) |
| static const char * | gripString (unsigned grip) |
| const char * | gripString () const |
| static const char * | modeString (unsigned mode) |
| const char * | modeString () const |
| void | zero () |
Variables | |
| enum { ... } | __attribute__ |
| RIQActionRequest | action_request_ |
| uint8_t | empty_ [6] |
| uint8_t | force_ |
| uint8_t | grip_ |
| Gripper grasp mode. | |
| uint8_t | initialize_ |
| uint8_t | mode_ |
| When set to 0 will reset gripper, setting to 1 will initialize gripper. | |
| uint8_t | parital_open_ |
| Open,Close,Stop. | |
| uint8_t | partial_close_ |
| Open all the way, or stop at given position. | |
| uint8_t | partial_open_ |
| uint8_t | raw_ |
| uint8_t | reserved |
| Close all the way, or stop at given position. | |
| uint8_t | reserved_ |
| RIQSafetyShutdown | safety_shutdown_ |
| uint8_t | timeout_ |
| uint8_t | velocity_ |
Enumeration Type Documentation
| anonymous enum |
Definition at line 82 of file riq_hand_command.h.
| anonymous enum |
Definition at line 83 of file riq_hand_command.h.
| anonymous enum |
Definition at line 84 of file riq_hand_command.h.
| anonymous enum |
Definition at line 85 of file riq_hand_command.h.
| anonymous enum |
- Enumerator:
Definition at line 102 of file riq_hand_command.h.
Function Documentation
| struct @22 __attribute__::__attribute__ | ( | (__packed__) | ) |
| static const char* __attribute__::gripString | ( | unsigned | grip | ) | [static] |
| const char* __attribute__::gripString | ( | ) | const |
Definition at line 91 of file riq_hand_command.h.
| static const char* __attribute__::modeString | ( | unsigned | mode | ) | [static] |
| const char* __attribute__::modeString | ( | ) | const |
Definition at line 90 of file riq_hand_command.h.
| void __attribute__::zero | ( | ) |
Variable Documentation
| enum { ... } __attribute__ |
| RIQActionRequest action_request_ |
Definition at line 109 of file riq_hand_command.h.
| uint8_t empty_[6] |
Definition at line 115 of file riq_hand_command.h.
| uint8_t force_ |
Definition at line 112 of file riq_hand_command.h.
| uint8_t grip_ |
Gripper grasp mode.
Definition at line 58 of file riq_hand_command.h.
| uint8_t initialize_ |
Definition at line 56 of file riq_hand_command.h.
| uint8_t mode_ |
When set to 0 will reset gripper, setting to 1 will initialize gripper.
Definition at line 57 of file riq_hand_command.h.
| uint8_t parital_open_ |
Open,Close,Stop.
Definition at line 59 of file riq_hand_command.h.
| uint8_t partial_close_ |
Open all the way, or stop at given position.
Definition at line 60 of file riq_hand_command.h.
| uint8_t partial_open_ |
Definition at line 113 of file riq_hand_command.h.
| uint8_t raw_ |
Definition at line 57 of file riq_hand_command.h.
| uint8_t reserved |
Close all the way, or stop at given position.
Definition at line 61 of file riq_hand_command.h.
| uint8_t reserved_ |
Definition at line 80 of file riq_hand_command.h.
| RIQSafetyShutdown safety_shutdown_ |
Definition at line 110 of file riq_hand_command.h.
| uint8_t timeout_ |
Definition at line 81 of file riq_hand_command.h.
| uint8_t velocity_ |
Definition at line 111 of file riq_hand_command.h.