Topics
The topics defined in this project are:
| Core API | Everything you need to control a Robotiq gripper |
| Activation & Recovery | The blocking activation / fault-recovery procedures built on top of Command and Status, and the polling helpers they are built from |
| Commands & Status | The typed blocks a Gripper exchanges with the hardware: the command you write to it, and the status you read back from it |
| Command | What you send to the gripper to perform an action |
| ActionByte | The packed action-request byte (byte 0 of the command block) |
| Status | The information you receive to understand gripper status |
| Fault Status | The packed FAULT STATUS byte (byte 2 of the status block) |
| Gripper Status | The packed GRIPPER STATUS byte (byte 0 of the status block) |
| Connection & Configuration | How a Gripper is configured, and the state of its connection |
| Runtime & Extension Points | The injectable transport, platform, and logging interfaces Gripper is built on — implement these to add a custom transport, port to an RTOS, or capture logs in tests. Most users do not need to implement these interfaces |
| Exceptions | Failures thrown by the transport or driver |
| Logging | Where diagnostic log lines go |
| Modbus Client | The no-thread layer below Gripper: one Modbus transaction per call, for superloop targets and diagnostic tooling only |
| Platform | The OS services (locks, threads, sleeps) behind the threaded runtime |
| Transport | The byte-level transport extension point (Serial) |
| Utilities | Helpers around the core API: unit conversions and polling |
| SI Units | Conversions between SI quantities (speed, opening) and the command/status blocks' 0..255 register values, scaled by a DeviceProfile |
| Wait | Polling helpers for waiting on a condition of the process image |
| Testing & CI Utilities | Tools for exercising the SDK without a physical gripper attached |
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