Public Types | Public Member Functions | Static Public Member Functions | Public Attributes
riq_hand_ethercat_hardware::RIQActionRequest Struct Reference

#include <riq_hand_command.h>

List of all members.

Public Types

enum  { CYLINDRICAL_MODE = 0, PINCH_MODE = 1, SPHERIOD_MODE = 2, SCISSORS_MODE = 3 }
enum  { GRIP_STOP = 0, GRIP_OPEN = 1, GRIP_CLOSE = 2, GRIP_STOP_X = 3 }
enum  { OPEN_MAX = 0, OPEN_PARTIAL = 1 }
enum  { CLOSE_MAX = 0, CLOSE_PARTIAL = 1 }

Public Member Functions

union {
   uint8_t   raw_
__attribute__ ((__packed__))
const char * gripString () const
const char * modeString () const

Static Public Member Functions

static const char * gripString (unsigned grip)
static const char * modeString (unsigned mode)

Public Attributes

enum
riq_hand_ethercat_hardware::RIQActionRequest:: { ... }  
__attribute__
uint8_t grip_: 2
 Gripper grasp mode.
uint8_t initialize_: 1
uint8_t mode_: 2
 When set to 0 will reset gripper, setting to 1 will initialize gripper.
uint8_t parital_open_: 1
 Open,Close,Stop.
uint8_t partial_close_: 1
 Open all the way, or stop at given position.
uint8_t reserved: 1
 Close all the way, or stop at given position.

Detailed Description

Definition at line 44 of file riq_hand_command.h.


Member Enumeration Documentation

anonymous enum
Enumerator:
CYLINDRICAL_MODE 
PINCH_MODE 
SPHERIOD_MODE 
SCISSORS_MODE 

Definition at line 58 of file riq_hand_command.h.

anonymous enum
Enumerator:
GRIP_STOP 
GRIP_OPEN 
GRIP_CLOSE 
GRIP_STOP_X 

Definition at line 59 of file riq_hand_command.h.

anonymous enum
Enumerator:
OPEN_MAX 
OPEN_PARTIAL 

Definition at line 60 of file riq_hand_command.h.

anonymous enum
Enumerator:
CLOSE_MAX 
CLOSE_PARTIAL 

Definition at line 61 of file riq_hand_command.h.


Member Function Documentation

union riq_hand_ethercat_hardware::RIQActionRequest::@16 riq_hand_ethercat_hardware::RIQActionRequest::__attribute__ ( (__packed__)  )
const char * riq_hand_ethercat_hardware::RIQActionRequest::gripString ( unsigned  grip) [static]

Definition at line 24 of file riq_hand_command.cpp.

Definition at line 67 of file riq_hand_command.h.

const char * riq_hand_ethercat_hardware::RIQActionRequest::modeString ( unsigned  mode) [static]

Definition at line 7 of file riq_hand_command.cpp.

Definition at line 66 of file riq_hand_command.h.


Member Data Documentation

Gripper grasp mode.

Definition at line 51 of file riq_hand_command.h.

Definition at line 49 of file riq_hand_command.h.

When set to 0 will reset gripper, setting to 1 will initialize gripper.

Definition at line 50 of file riq_hand_command.h.

Open,Close,Stop.

Definition at line 52 of file riq_hand_command.h.

Open all the way, or stop at given position.

Definition at line 53 of file riq_hand_command.h.

Definition at line 47 of file riq_hand_command.h.

Close all the way, or stop at given position.

Definition at line 54 of file riq_hand_command.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