ActionByte

The packed action-request byte (byte 0 of the command block).

Members

Typedefs
using	ActionRequest = detail::NamedBitArray< ActionRequestBit >
	The packed action-request byte (byte 0 of the command block), as a set of ActionRequestBit flags. More...
Enumerations
enum class	ActionRequestBit : uint8_t { ... }
	Bit layout of the action-request byte (byte 0 of the command block): More...

Typedefs

ActionRequest

using Robotiq::ActionRequest = typedef detail::NamedBitArray<ActionRequestBit>

The packed action-request byte (byte 0 of the command block), as a set of ActionRequestBit flags.

Individual bits are read and written through a generic set()/get() pair: set(bit) / set(bit, value) to write, unset(bit) to clear, and get(bit) to read one back.

Example

  Robotiq::GripperCommand command = Robotiq::GripperCommand::defaults();

  command.action.set(Robotiq::ActionRequestBit::GoTo); // start moving (same as set(GoTo, true))

  command.action.set(Robotiq::ActionRequestBit::AutoRelease, false); // ...but not an emergency release

Enumerations

ActionRequestBit

enum class Robotiq::ActionRequestBit : uint8_t

strong

Bit layout of the action-request byte (byte 0 of the command block):

Enumeration values

Activate	rACT — must stay set after activation (= 0)
GoTo	rGTO — go to the requested position (= 3)
AutoRelease	rATR — automatic (emergency) release (= 4)
AutoReleaseOpenDirection	rARD — set = open direction (= 5)

//!   bit    7     6     5     4     3     2     1     0
//!         rsvd  rsvd  rARD  rATR  rGTO  rsvd  rsvd  rACT
//!

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