Classes | Namespaces | Enumerations | Functions | Variables
riq_hand_state.h File Reference
#include <stdint.h>
Include dependency graph for riq_hand_state.h:
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Go to the source code of this file.

Classes

struct  riq_hand_ethercat_hardware::RIQGripperStatus
struct  riq_hand_ethercat_hardware::RIQHandStateEcat
struct  riq_hand_ethercat_hardware::RIQObjectStatus

Namespaces

namespace  riq_hand_ethercat_hardware

Enumerations

enum  { RESETTED = 0, INITALIAZATION_COMPLETE = 1 }
enum  { CYLINDRICAL_MODE = 0, PINCH_MODE = 1, SPHERIOD_MODE = 2, SCISSORS_MODE = 3 }
enum  { GRIP_STOPPED = 0, GRIP_OPENED = 1, GRIP_CLOSED = 2, GRIP_INITIALIZING_OR_CHANGING = 3 }
enum  { ACTION_FAULTED = 0, ACTION_IN_PROGRESS = 1, ACTION_ILLEGAL_UNDEFINED = 2, ACTION_SUCCESSFUL = 3 }
enum  { OBJECT_NOT_DETECTED = 0, OBJECT_DETECTED_1_FINGER = 1, OBJECT_DETECTED_2_FINGERS = 2, OBJECT_DETECTED_ALL_FINGERS = 3 }
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
}

Functions

struct {
   uint8_t   grip_: 2
   uint8_t   initialization_: 1
   uint8_t   mode_: 2
   uint8_t   reserved_: 1
   uint8_t   status_: 2
__attribute__ ((__packed__))
struct
riq_hand_ethercat_hardware::ECatALStatus 
riq_hand_ethercat_hardware::__attribute__ ((__packed__))
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 * detectedString (unsigned detected, bool in_scissors_mode=false)
const char * detectedString (bool in_scissors_mode=false) const
static const char * faultString (unsigned fault)
 Error string lookup table for fault error code.
const char * faultString () const
 Error string lookup table for fault error code.
static const char * gripString (unsigned grip)
const char * gripString () const
bool inScissorsMode () const
static const char * modeString (unsigned mode)
const char * modeString () const
static const char * statusString (unsigned status)
const char * statusString () const
static const char * wasDetectedString (bool was_detected)

Variables

enum { ... }  __attribute__
uint8_t detected_
uint8_t fault_status_
uint8_t grip_
RIQGripperStatus gripper_status_
uint8_t initialization_
uint8_t left_finger_current_
uint8_t left_finger_detected_
uint8_t left_finger_position_
uint8_t mode_
RIQObjectStatus object_status_
uint8_t raw_
uint8_t reserved_
uint8_t right_finger_current_
uint8_t right_finger_detected_
uint8_t right_finger_position_
uint8_t scissors_current_
uint8_t scissors_detected_
uint8_t scissors_position_
uint8_t status_
uint8_t thumb_current_
uint8_t thumb_detected_
uint8_t thumb_position_

Enumeration Type Documentation

anonymous enum
Enumerator:
RESETTED 
INITALIAZATION_COMPLETE 

Definition at line 84 of file riq_hand_state.h.

anonymous enum
Enumerator:
CYLINDRICAL_MODE 
PINCH_MODE 
SPHERIOD_MODE 
SCISSORS_MODE 

Definition at line 85 of file riq_hand_state.h.

anonymous enum
Enumerator:
GRIP_STOPPED 
GRIP_OPENED 
GRIP_CLOSED 
GRIP_INITIALIZING_OR_CHANGING 

Definition at line 86 of file riq_hand_state.h.

anonymous enum
Enumerator:
ACTION_FAULTED 
ACTION_IN_PROGRESS 
ACTION_ILLEGAL_UNDEFINED 
ACTION_SUCCESSFUL 

Definition at line 87 of file riq_hand_state.h.

anonymous enum
Enumerator:
OBJECT_NOT_DETECTED 
OBJECT_DETECTED_1_FINGER 
OBJECT_DETECTED_2_FINGERS 
OBJECT_DETECTED_ALL_FINGERS 

Definition at line 113 of file riq_hand_state.h.

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 158 of file riq_hand_state.h.


Function Documentation

struct @44 __attribute__::__attribute__ ( (__packed__)  )
static double __attribute__::convertCurrent ( unsigned  current) [static]

Converts raw current value, to value in Amps.

static double __attribute__::convertPosition ( unsigned  position) [static]

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

static const char* __attribute__::detectedString ( unsigned  detected,
bool  in_scissors_mode = false 
) [static]
const char* __attribute__::detectedString ( bool  in_scissors_mode = false) const

Definition at line 121 of file riq_hand_state.h.

static const char* __attribute__::faultString ( unsigned  fault) [static]

Error string lookup table for fault error code.

const char* __attribute__::faultString ( ) const

Error string lookup table for fault error code.

Definition at line 175 of file riq_hand_state.h.

static const char* __attribute__::gripString ( unsigned  grip) [static]
const char* __attribute__::gripString ( ) const

Definition at line 96 of file riq_hand_state.h.

Definition at line 89 of file riq_hand_state.h.

static const char* __attribute__::modeString ( unsigned  mode) [static]
const char* __attribute__::modeString ( ) const

Definition at line 95 of file riq_hand_state.h.

static const char* __attribute__::statusString ( unsigned  status) [static]
const char* __attribute__::statusString ( ) const

Definition at line 97 of file riq_hand_state.h.

static const char* __attribute__::wasDetectedString ( bool  was_detected) [static]

Variable Documentation

enum { ... } __attribute__
uint8_t detected_

Definition at line 88 of file riq_hand_state.h.

uint8_t fault_status_

Definition at line 148 of file riq_hand_state.h.

uint8_t grip_

Definition at line 57 of file riq_hand_state.h.

RIQGripperStatus gripper_status_

Definition at line 145 of file riq_hand_state.h.

uint8_t initialization_

Definition at line 55 of file riq_hand_state.h.

Definition at line 155 of file riq_hand_state.h.

Definition at line 91 of file riq_hand_state.h.

Definition at line 151 of file riq_hand_state.h.

uint8_t mode_

Definition at line 56 of file riq_hand_state.h.

RIQObjectStatus object_status_

Definition at line 146 of file riq_hand_state.h.

uint8_t raw_

Definition at line 56 of file riq_hand_state.h.

uint8_t reserved_

Definition at line 59 of file riq_hand_state.h.

Definition at line 154 of file riq_hand_state.h.

Definition at line 90 of file riq_hand_state.h.

Definition at line 150 of file riq_hand_state.h.

Definition at line 156 of file riq_hand_state.h.

Definition at line 92 of file riq_hand_state.h.

Definition at line 152 of file riq_hand_state.h.

uint8_t status_

Definition at line 58 of file riq_hand_state.h.

uint8_t thumb_current_

Definition at line 153 of file riq_hand_state.h.

uint8_t thumb_detected_

Definition at line 89 of file riq_hand_state.h.

uint8_t thumb_position_

Definition at line 149 of file riq_hand_state.h.



riq_hand_ethercat_hardware
Author(s): Derek King
autogenerated on Fri Jan 3 2014 11:46:38