25 map[0] = (output.rACT & 0x1) | ((output.rGTO << 0x3) & 0x8) | ((output.rATR << 0x4) & 0x10);
31 for (
unsigned i = 0; i < 6; ++i)
41 for (
unsigned i = 0; i < 6; ++i)
48 input.gACT = map[0] & 0x1;
49 input.gGTO = (map[0] >> 0x3) & 0x1;
50 input.gSTA = (map[0] >> 0x4) & 0x3;
51 input.gOBJ = (map[0] >> 0x6) & 0x3;
53 input.gFLT = map[2] & 0xF;
64 for (
unsigned i = 0; i < 6; ++i)
70 output.rACT = map[0] & 1;
71 output.rGTO = (map[0] >> 0x3) & 0x1;
72 output.rATR = (map[0] >> 0x4) & 0x1;
GripperOutput readOutputs() const
Reads set of output-register values from the gripper.
robotiq_ethercat::EtherCatManager & manager_
robotiq_2f_gripper_control::Robotiq2FGripper_robot_output GripperOutput
uint8_t readOutput(int slave_no, uint8_t channel) const
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 sl...
void write(int slave_no, uint8_t channel, uint8_t value)
uint8_t readInput(int slave_no, uint8_t channel) const
void writeOutputs(const GripperOutput &output)
Write the given set of control flags to the memory of the gripper.
robotiq_2f_gripper_control::Robotiq2FGripper_robot_input GripperInput
GripperInput readInputs() const
Reads set of input-register values from the gripper.