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_ |
