Public Types | Public Member Functions | Static Public Member Functions | Public Attributes
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

enum
riq_hand_ethercat_hardware::RIQHandStateEcat:: { ... }  
__attribute__
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_

Detailed Description

Definition at line 104 of file riq_hand_state.h.


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.


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 ( unsigned  fault) [static]

Error string lookup table for fault error code.

Definition at line 101 of file riq_hand_state.cpp.

Error string lookup table for fault error code.

Definition at line 136 of file riq_hand_state.h.


Member Data Documentation

Definition at line 109 of file riq_hand_state.h.

Definition at line 106 of file riq_hand_state.h.

Definition at line 116 of file riq_hand_state.h.

Definition at line 112 of file riq_hand_state.h.

Definition at line 107 of file riq_hand_state.h.

Definition at line 108 of file riq_hand_state.h.

Definition at line 115 of file riq_hand_state.h.

Definition at line 111 of file riq_hand_state.h.

Definition at line 117 of file riq_hand_state.h.

Definition at line 113 of file riq_hand_state.h.

Definition at line 114 of file riq_hand_state.h.

Definition at line 110 of file riq_hand_state.h.


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


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