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java.lang.Objectjavaclient.PlayerDevice
javaclient.GripperInterface
public class GripperInterface
The gripper interface provides access to a robotic gripper. This interface is VERY Pioneer-specific, and should really be generalized.
Field Summary |
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Fields inherited from class javaclient.PlayerDevice |
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device, DIFFERENCE_SYNCH_FACTOR, index, is, os, pc, PLAYER_MAX_REQREP_SIZE, PLAYER_STXX, reserved, size, t_sec, t_usec, ts_sec, ts_usec |
Constructor Summary | |
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GripperInterface(PlayerClient pc,
short indexOfDevice)
Constructor for GripperInterface. |
Method Summary | |
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byte |
getBeams()
Get the gripper's beams. |
byte |
getState()
Get the gripper's state. |
void |
readData()
Read the current state of the gripper; the format is given below. |
void |
setGripper(int cmd,
int arg)
The gripper interface accepts 2-byte commands, the format of which is given below. |
Methods inherited from class javaclient.PlayerDevice |
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getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, handleResponse, readHeader, sendHeader |
Methods inherited from class java.lang.Object |
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clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait |
Constructor Detail |
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public GripperInterface(PlayerClient pc, short indexOfDevice)
pc
- a reference to the PlayerClient objectindexOfDevice
- the index of the deviceMethod Detail |
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public void readData()
readData
in class PlayerDevice
public void setGripper(int cmd, int arg)
cmd
- the commandarg
- the argument for the LIFTcarry and GRIPpress commandspublic byte getState()
public byte getBeams()
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