Core API

Everything you need to control a Robotiq gripper.

The gripper SDK is composed of the Gripper class and free functions that operate on Gripper objects.

//!               ConnectionConfig                Serial + Platform + Logger
//!             (SerialConfig + slave addr)     (custom transport, RTOS port,
//!                     |                             or a test double)
//!                     |                                 |
//!                     |    (built-in serial)            |    (bring your own serial)
//!                     +----------------+----------------+
//!                                      v
//!                             +-----------------+
//!                             |     Gripper     |   <- the class you drive
//!                             +-----------------+
//!                            /         |         \
//!                 setCommand()   getStatus()   connectionState()
//!                       /             |             \
//!                      v              v              v
//!             GripperCommand   GripperStatus   ConnectionState
//!               (you send)     (FaultStatus
//!                                lives inside)
//!

\note all gripper methods are not represented in this graph. Check gripper
class documentation for details.

While Gripper class methods like setCommand and getStatus are enough
to control the gripper, high level functions are provided to
ease some actions like activation and fault recovery. Those functions are
not members of the gripper class and directly use gripper object
to perform an action.

See \ref testing "Testing & CI Utilities" for driving this same API
without a physical gripper attached.

Members

Topics
	Activation & Recovery
	The blocking activation / fault-recovery procedures built on top of Command and Status, and the polling helpers they are built from. More...
	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. More...
	Connection & Configuration
	How a Gripper is configured, and the state of its connection. More...
	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. More...
	Utilities
	Helpers around the core API: unit conversions and polling. More...
Classes
class	Gripper
	The Robotiq gripper Class. More...

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Members​

Members