Class Driver

Defined in File driver.hpp

Inheritance Relationships

Derived Types

public robotiq_driver::DefaultDriver (Class DefaultDriver)
public robotiq_driver::FakeDriver (Class FakeDriver)

Class Documentation

class Driver

Subclassed by robotiq_driver::DefaultDriver, robotiq_driver::FakeDriver

Public Types

enum class ActivationStatus

Values:

enumerator RESET

enumerator ACTIVE

enum class ActionStatus

Values:

enumerator STOPPED

enumerator MOVING

enum class GripperStatus

Values:

enumerator RESET

enumerator IN_PROGRESS

enumerator COMPLETED

enum class ObjectDetectionStatus

Values:

enumerator MOVING

enumerator OBJECT_DETECTED_OPENING

enumerator OBJECT_DETECTED_CLOSING

enumerator AT_REQUESTED_POSITION

Public Functions

virtual void set_slave_address(uint8_t slave_address) = 0

virtual bool connect() = 0: Connect to the gripper serial connection.

virtual void disconnect() = 0: Disconnect from the gripper serial connection.

virtual void activate() = 0

Activates the gripper.

Throws:: serial::IOException – on failure to successfully communicate with gripper port

virtual void deactivate() = 0

Deactivates the gripper.

Throws:: serial::IOException – on failure to successfully communicate with gripper port

virtual void set_gripper_position(uint8_t pos) = 0

Commands the gripper to move to the desired position.

Parameters:: pos – A value between 0x00 (fully open) and 0xFF (fully closed).

virtual uint8_t get_gripper_position() = 0

Return the current position of the gripper.

Throws:: serial::IOException – on failure to successfully communicate with gripper port
Returns:: uint8_t A value between 0x00 (fully open) and 0xFF (fully closed).

virtual bool gripper_is_moving() = 0: Returns true if the gripper is currently moving, false otherwise.

virtual void set_speed(uint8_t speed) = 0

Set the speed of the gripper.

Parameters:: speed – A value between 0x00 (stopped) and 0xFF (full speed).

virtual void set_force(uint8_t force) = 0

Set how forcefully the gripper opens or closes.

Parameters:: force – A value between 0x00 (no force) or 0xFF (maximum force).