This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map. More...
#include <robotiq_2f_gripper_ethercat_client.h>
Public Types | |
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input | GripperInput |
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output | GripperOutput |
Public Member Functions | |
GripperInput | readInputs () const |
Reads set of input-register values from the gripper. More... | |
GripperOutput | readOutputs () const |
Reads set of output-register values from the gripper. More... | |
Robotiq2FGripperEtherCatClient (robotiq_ethercat::EtherCatManager &manager, int slave_no) | |
Constructs a control interface to a 2F Robotiq gripper on the given ethercat network and the given slave_no. More... | |
void | writeOutputs (const GripperOutput &output) |
Write the given set of control flags to the memory of the gripper. More... | |
Private Attributes | |
robotiq_ethercat::EtherCatManager & | manager_ |
const int | slave_no_ |
This class provides a client for the EtherCAT manager object that can translate robot input/output messages and translate them to the underlying IO Map.
Definition at line 22 of file robotiq_2f_gripper_ethercat_client.h.
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_input robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::GripperInput |
Definition at line 26 of file robotiq_2f_gripper_ethercat_client.h.
typedef robotiq_2f_gripper_control::Robotiq2FGripper_robot_output robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::GripperOutput |
Definition at line 25 of file robotiq_2f_gripper_ethercat_client.h.
robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::Robotiq2FGripperEtherCatClient | ( | robotiq_ethercat::EtherCatManager & | manager, |
int | slave_no | ||
) |
Constructs a control interface to a 2F Robotiq gripper on the given ethercat network and the given slave_no.
[in] | manager | The interface to an EtherCAT network that the gripper is connected to. |
[in] | slave_no | The slave number of the gripper on the EtherCAT network (>= 1) |
Definition at line 11 of file robotiq_2f_gripper_ethercat_client.cpp.
Robotiq2FGripperEtherCatClient::GripperInput robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::readInputs | ( | ) | const |
Reads set of input-register values from the gripper.
Definition at line 37 of file robotiq_2f_gripper_ethercat_client.cpp.
Robotiq2FGripperEtherCatClient::GripperOutput robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::readOutputs | ( | ) | const |
Reads set of output-register values from the gripper.
Definition at line 61 of file robotiq_2f_gripper_ethercat_client.cpp.
void robotiq_2f_gripper_control::Robotiq2FGripperEtherCatClient::writeOutputs | ( | const GripperOutput & | output | ) |
Write the given set of control flags to the memory of the gripper.
[in] | output | The set of output-register values to write to the gripper |
Definition at line 20 of file robotiq_2f_gripper_ethercat_client.cpp.
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private |
Definition at line 60 of file robotiq_2f_gripper_ethercat_client.h.
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private |
Definition at line 61 of file robotiq_2f_gripper_ethercat_client.h.