javaclient
Class GripperInterface

java.lang.Object
  javaclient.PlayerDevice
      javaclient.GripperInterface

public class GripperInterface
extends PlayerDevice

The gripper interface provides access to a robotic gripper. This interface is VERY Pioneer-specific, and should really be generalized.

Version:

• v1.6.3 - Player 1.6.3 (all interfaces) supported
• v1.6.2 - Player 1.6.2 supported, Javadoc documentation, several bugfixes
• v1.5a - Player 1.5 supported (most popular devices)

Author:

Maxim A. Batalin & Radu Bogdan Rusu

Field Summary

Fields inherited from class javaclient.PlayerDevice

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

GripperInterface(PlayerClient pc, short indexOfDevice)
Constructor for GripperInterface.

Method Summary

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

getTimeForDataSampled_sec, getTimeForDataSampled_usec, getTimeForDataSampled, getTimeForDataSent_sec, getTimeForDataSent_usec, getTimeForDataSent, handleEARMessage, handleNARMessage, handleResponse, readHeader, sendHeader

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

GripperInterface

public GripperInterface(PlayerClient pc,
                        short indexOfDevice)

Constructor for GripperInterface.

Parameters:

pc - a reference to the PlayerClient object

indexOfDevice - the index of the device

Method Detail

readData

public void readData()

Read 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

  Overrides:

  readData in class PlayerDevice

setGripper

public void setGripper(int cmd,
                       int arg)

The gripper interface accepts 2-byte commands, the format of which is given below. These two bytes are sent directly to the gripper; refer to Table 3-3 page 10 in the Pioneer 2 Gripper Manual for a list of commands. The first byte is the command. The second is the argument for the LIFTcarry and GRIPpress commands, but for all others it is ignored.

Parameters:

cmd - the command

arg - the argument for the LIFTcarry and GRIPpress commands

getState

public byte getState()

Get the gripper's state.

Returns:

the gripper's state as a byte

getBeams

public byte getBeams()

Get the gripper's beams.

Returns:

the gripper's beams as a byte