Robotiq::FaultStatus Class

The FAULT STATUS byte (byte 2 of the status block).

Splits into the gripper's own fault (gFLT, low nibble) and the optional Robotiq controller's fault (kFLT, high nibble).

Example

  Robotiq::FaultStatus fault = gripper.getStatus().faultStatus;

  if(Robotiq::severity(fault.gripperFault()) == Robotiq::FaultSeverity::Major)

  {

  Robotiq::recoverFromFault(gripper);

  }

Included Headers

#include <fault_status.hpp>

Members

Public Operators
bool	operator== (FaultStatus other) const
bool	operator!= (FaultStatus other) const
Public Member Functions
GripperFault	gripperFault () const
ControllerFault	controllerFault () const
uint8_t	raw () const
Public Static Functions
static constexpr FaultStatus	fromRaw (uint8_t bits)
	Synthesize a byte the gripper would have sent. More...

Public Operators

operator!=()

bool Robotiq::FaultStatus::operator!= ( FaultStatus other )

inline

Returns

true if the fault bytes differ.

operator==()

bool Robotiq::FaultStatus::operator== ( FaultStatus other )

inline

Returns

true if both fault bytes are identical.

Public Member Functions

controllerFault()

ControllerFault Robotiq::FaultStatus::controllerFault ()

inline

Returns

kFLT — the optional Robotiq controller's fault code.

gripperFault()

GripperFault Robotiq::FaultStatus::gripperFault ()

inline

Returns

gFLT — the gripper's own fault code.

raw()

uint8_t Robotiq::FaultStatus::raw ()

inline

Returns

The raw FAULT STATUS byte.

Public Static Functions

fromRaw()

constexpr FaultStatus Robotiq::FaultStatus::fromRaw ( uint8_t bits )

inline constexpr static

Synthesize a byte the gripper would have sent.

For simulators and for exercising fault handling without hardware.

Parameters

bits	The raw FAULT STATUS byte.

Returns

A FaultStatus wrapping bits.

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The documentation for this class was generated from the following file:

• fault_status.hpp

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