player_gripper_data Struct Reference
#include <player.h>
Detailed Description
Data: state (PLAYER_GRIPPER_DATA_STATE).
The gripper interface returns 2 bytes that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper).
The following list defines how the data can be interpreted for some Pioneer robots and Stage:
- state (unsigned byte)
- bit 0: Paddles open
- bit 1: Paddles closed
- bit 2: Paddles moving
- bit 3: Paddles error
- bit 4: Lift is up
- bit 5: Lift is down
- bit 6: Lift is moving
- bit 7: Lift error
- beams (unsigned byte)
- bit 0: Gripper limit reached
- bit 1: Lift limit reached
- bit 2: Outer beam obstructed
- bit 3: Inner beam obstructed
- bit 4: Left paddle open
- bit 5: Right paddle open
Public Attributes | |
| uint32_t | state |
| The current gripper lift. | |
| uint32_t | beams |
| The current gripper breakbeam state. | |
The documentation for this struct was generated from the following file: