Gripper Status

The packed GRIPPER STATUS byte (byte 0 of the status block).

Members

Classes
class	GripperStatusFlags
	The GRIPPER STATUS byte (byte 0 of the status block). More...
Enumerations
enum class	ActivationState : uint8_t { ... }
enum class	ObjectDetection : uint8_t { ... }
Functions
constexpr std::string_view	toString (ActivationState state)
constexpr std::string_view	toString (ObjectDetection detection)
std::string	toString (GripperStatusFlags flags)

Enumerations

ActivationState

enum class Robotiq::ActivationState : uint8_t

strong

Enumeration values

Reset	not activated; rACT is clear (= detail::rm::kActivationStateReset)
InProgress	activation handshake running (= detail::rm::kActivationStateInProgress)
Reserved	unallocated pattern; not activated (= detail::rm::kActivationStateReserved)
Complete	activated; ready for motion commands (= detail::rm::kActivationStateComplete)

gSTA — activation sequence state.

ObjectDetection

enum class Robotiq::ObjectDetection : uint8_t

strong

Enumeration values

Moving	fingers in motion, or motion not yet requested (= detail::rm::kObjectMoving)
DetectedWhileOpening	stopped early while opening (= detail::rm::kObjectDetectedOpening)
DetectedWhileClosing	stopped early while closing (= detail::rm::kObjectDetectedClosing)
AtRequestedPosition	reached rPR with no object stop (= detail::rm::kObjectAtRequestedPosition)

gOBJ — object detection state.

Functions

toString()

constexpr std::string_view Robotiq::toString ( ActivationState state )

constexpr

Parameters

state

gSTA, as decoded by GripperStatusFlags::activationState().

Returns

The manual's mnemonic name for state.

toString()

constexpr std::string_view Robotiq::toString ( ObjectDetection detection )

constexpr

Parameters

detection

gOBJ, as decoded by GripperStatusFlags::objectDetection().

Returns

The manual's mnemonic name for detection.

toString()

std::string Robotiq::toString ( GripperStatusFlags flags )

Parameters

flags

The packed GRIPPER STATUS byte to render.

Returns

flags as the manual's mnemonics (gACT, gGTO, gSTA, gOBJ), with gSTA/gOBJ decoded to their named states.

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