Robotiq::DeviceProfile Struct
Gripper model specific profile gathering specifications such as opening range and speed.
openPosition and closedPosition are measured, not taken from the manual: with nothing between the fingers, command rPR 0 and read gPO back, then command rPR 255 and read gPO back. Do this on your own gripper when filling a new profile, especially with custom fingers.
Position <-> register conversion are valid only while the gripper stays in parallel-finger mode. In encompassing mode gPO can go past closedPosition; this profile has no way to represent that, so a reading taken in encompassing mode does not convert to a meaningful opening.
minOpening, maxOpening, openPosition and closedPosition depend on which fingers are installed on the gripper: swapping fingers changes the physical opening range, and can shift the measured register endpoints too.
Included Headers
Members
| Public Member Functions | |
| constexpr double | registerPositionRange () const |
|
Register steps from full opening to full closure, in parallel mode. More... | |
| constexpr double | openingRange () const |
|
Metres from full closure to full opening. More... | |
| Public Member Attributes | |
| double | minSpeed |
|
m/s More... | |
| double | maxSpeed |
|
m/s More... | |
| double | minOpening |
|
m — opening at closedPosition More... | |
| double | maxOpening |
|
m — opening at openPosition More... | |
| uint8_t | openPosition |
|
gPO after commanding rPR 0, measured More... | |
| uint8_t | closedPosition |
|
gPO after commanding rPR 255, measured More... | |
Public Member Functions
openingRange()
| inline constexpr |
Metres from full closure to full opening.
registerPositionRange()
| inline constexpr |
Register steps from full opening to full closure, in parallel mode.
Public Member Attributes
closedPosition
|
gPO after commanding rPR 255, measured
maxOpening
|
m — opening at openPosition
maxSpeed
|
m/s
minOpening
|
m — opening at closedPosition
minSpeed
|
m/s
openPosition
|
gPO after commanding rPR 0, measured
The documentation for this struct was generated from the following file:
- device_profile.hpp
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