00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _dynamixel_nc_gripper_driver_h_ 00026 #define _dynamixel_nc_gripper_driver_h_ 00027 00028 #include <iri_base_driver/iri_base_driver.h> 00029 #include <iri_dynamixel_nc_gripper/DynamixelNcGripperConfig.h> 00030 00031 //include dynamixel_nc_gripper_driver main library 00032 #include <iridrivers/dynamixel_motor.h> 00033 #include <iridrivers/dynamixel_motor_exceptions.h> 00034 #include <iridrivers/dynamixel_gripper.h> 00035 00055 class DynamixelNcGripperDriver : public iri_base_driver::IriBaseDriver 00056 { 00057 private: 00058 // private attributes and methods 00059 boost::shared_ptr<CDynamixelGripper> gripper_; 00060 std::string gripper_config_file_; 00061 std::string xml_path_; 00062 std::string full_path_; 00063 00064 public: 00071 typedef iri_dynamixel_nc_gripper::DynamixelNcGripperConfig Config; 00072 00079 Config config_; 00080 00089 DynamixelNcGripperDriver(void); 00090 00097 ~DynamixelNcGripperDriver(void); 00098 00109 bool openDriver(void); 00110 00121 bool closeDriver(void); 00122 00133 bool startDriver(void); 00134 00145 bool stopDriver(void); 00146 00158 void config_update(Config& new_cfg, uint32_t level=0); 00159 00160 // here define all dynamixel_nc_gripper_driver interface methods to retrieve and set 00161 // the driver parameters 00162 00167 void scan_XML_files(void); 00172 bool open_gripper(); 00173 00178 bool close_gripper(); 00179 00184 void stop_gripper(); 00185 00190 float get_current_effort(); 00191 00196 float get_current_angle(); 00197 00202 bool is_at_max_angle(); 00203 00208 bool is_at_min_angle(); 00209 00214 void disable_gripper(); 00215 00220 void print_info(); 00221 00222 private: 00227 bool move_gripper(const double position_in_radians); 00228 00229 }; 00230 00231 #endif