Robotiq::GripperStatus Struct

The gripper status block (gripper -> host), laid out byte for byte as the instruction manual's block table.

Example

 void motionSettledExample(Robotiq::Gripper& gripper)

 {

  Robotiq::GripperStatus status = gripper.getStatus();

  if(status.gripperStatus.objectDetection() != Robotiq::ObjectDetection::Moving)

  {

  // motion has settled

  }

 }

Included Headers

#include <status.hpp>

Members

Public Member Functions
const uint8_t *	data () const
uint8_t *	data ()
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...
Public Member Attributes
GripperStatusFlags	gripperStatus
	byte 0 — GRIPPER STATUS More...
uint8_t	reserved1 = 0
	byte 1 More...
FaultStatus	faultStatus
	byte 2 — FAULT STATUS (gFLT / kFLT) More...
uint8_t	positionRequestEcho = 0
	byte 3 — gPR More...
uint8_t	position = 0
	byte 4 — gPO: 0 open .. 255 closed More...
uint8_t	current = 0
	byte 5 — gCU (effort proxy) More...
std::array< uint8_t, detail::rm::kStatusBlockBytes - detail::rm::kStatusDocumentedBytes >	reservedTail {}
	bytes 6..15 More...
Public Static Functions
static constexpr std::size_t	size ()

Public Member Functions

data()

const uint8_t * Robotiq::GripperStatus::data ()

inline

Returns

Raw block access, the manual's byte order. size() bytes wide.

data()

uint8_t * Robotiq::GripperStatus::data ()

inline

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Public Member Attributes

current

uint8_t Robotiq::GripperStatus::current = 0

byte 5 — gCU (effort proxy)

faultStatus

FaultStatus Robotiq::GripperStatus::faultStatus

byte 2 — FAULT STATUS (gFLT / kFLT)

gripperStatus

GripperStatusFlags Robotiq::GripperStatus::gripperStatus

byte 0 — GRIPPER STATUS

position

uint8_t Robotiq::GripperStatus::position = 0

byte 4 — gPO: 0 open .. 255 closed

positionRequestEcho

uint8_t Robotiq::GripperStatus::positionRequestEcho = 0

byte 3 — gPR

reserved1

uint8_t Robotiq::GripperStatus::reserved1 = 0

byte 1

reservedTail

std::array<uint8_t, detail::rm::kStatusBlockBytes - detail::rm::kStatusDocumentedBytes> Robotiq::GripperStatus::reservedTail {}

bytes 6..15

Public Static Functions

size()

constexpr std::size_t Robotiq::GripperStatus::size ()

inline constexpr static

Returns

The width of the status block in bytes (16, per the manual).

---

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

• status.hpp

---

Generated via doxygen2docusaurus 2.2.2 by Doxygen 1.9.8.