Robotiq::ConnectionConfig Struct

Connection parameters for a gripper: the serial link plus the Modbus addressing.

Plain aggregate so the SDK can be configured without any framework: a ROS 2 wrapper fills it from hardware parameters, a CLI from argv.

Example

  Robotiq::ConnectionConfig config;

  config.serial.port = "/dev/ttyUSB0"; // no default; every other field below is

  config.serial.baudrate = 115200;

  config.serial.timeout = 500ms;

  config.serial.latencyTimerMs = 1;

  config.modbusSlaveAddress = 0x09;

  config.connectionFrequency = 100.0; // Hz

Included Headers

#include <connection_config.hpp>

Members

Public Member Attributes
SerialConfig	serial
	Serial link parameters (port, baud rate, timeouts). More...
uint8_t	modbusSlaveAddress = kDefaultModbusSlaveAddress
	Modbus slave address of the gripper on the bus. More...
double	connectionFrequency = 100.0
	Frequency of the background exchange cycle (Gripper), in hertz. More...

Public Member Attributes

connectionFrequency

double Robotiq::ConnectionConfig::connectionFrequency = 100.0

Frequency of the background exchange cycle (Gripper), in hertz.

0 means free-run (exchange as fast as the bus allows). The default is conservative for 115200 baud (one FC 0x17 exchange takes ~4 ms median, ~5 ms p99). Rates are folded into [0.1, 1000] Hz: below the floor, procedures that wait on status stall for no reason; above the ceiling, no supported baud rate can carry the requests. A negative rate, or NaN, is a caller bug: the Gripper constructor throws DriverException for it.

modbusSlaveAddress

uint8_t Robotiq::ConnectionConfig::modbusSlaveAddress = kDefaultModbusSlaveAddress

Modbus slave address of the gripper on the bus.

serial

SerialConfig Robotiq::ConnectionConfig::serial

Serial link parameters (port, baud rate, timeouts).

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

• connection_config.hpp

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