LWA3ArmUASHH.h

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/*
 * LWA3ArmUASHH.h
 *
 * Hardware specific code for the LWA3 arm at the Robot Vision Lab, UAS Hamburg.
 */

#ifndef LWA3ARMUASHH_H_
#define LWA3ARMUASHH_H_

#include "AmtecProtocolArm.h"


class LWA3ArmUASHH: public AmtecProtocolArm {

#define GRIPPER_ID      (modules_count_-1)

public:
        virtual void init() {
                AmtecProtocolArm::init();

                // ref the gripper
                ackJoint(GRIPPER_ID);
        }

        virtual int ackJoint(IDType id) {
                // the gripper has to be reset nicely
                const AmtecManipulator::ModuleConfig *moduleConfig;
                manipulator_.getModuleConfig(id + id_offset_, moduleConfig);

                if(id == GRIPPER_ID && moduleConfig->linear) {
                        int retval = 0;
                        if(!moduleConfig->status_flags.flags.home_ok) { // if not referenced, do so
                                retval += refJoint(id); // start reference
                                ros::Duration(4).sleep(); // wait to finish reference
                        }
                        if(id == GRIPPER_ID) { // set movable speeds in case too low ones were set
                                retval += setAcceleration(id, 0.04);    // set gripper acceleration
                                retval += setVelocity(id, 0.04);                // and velocity to a nice value
                        }
                        return retval;
                } else {
                        return AmtecProtocolArm::ackJoint(id);
                }
        }

        virtual int refJoint(IDType id) {
                if(id == GRIPPER_ID) {
                        setAcceleration(id, 0.04); // set gripper acceleration
                        setVelocity(id, 0.04);  // and velocity to a nice value
                }

                return AmtecProtocolArm::refJoint(id);
        }

};

#endif /* LWA3ARMUASHH_H_ */