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
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class Driver
Subclassed by robotiq_driver::DefaultDriver, robotiq_driver::FakeDriver
Public Types
Public Functions
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virtual void set_slave_address(uint8_t slave_address) = 0
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virtual bool connect() = 0
Connect to the gripper serial connection.
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virtual void disconnect() = 0
Disconnect from the gripper serial connection.
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virtual void activate() = 0
Activates the gripper.
- Throws:
serial::IOException – on failure to successfully communicate with gripper port
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virtual void deactivate() = 0
Deactivates the gripper.
- Throws:
serial::IOException – on failure to successfully communicate with gripper port
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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).
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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).
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virtual bool gripper_is_moving() = 0
Returns true if the gripper is currently moving, false otherwise.
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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).
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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).
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virtual void set_slave_address(uint8_t slave_address) = 0