:::tip Experimental This documents unreleased main — not a released, committed API. See the API stability policy and use Stable instead. :::

Robotiq::GripperStatusFlags Class

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

This byte is decoded through named accessors: activated() and goToEnabled() answer single flag bits, while activationState() and objectDetection() unpack multi-bit fields into their own enums (ActivationState, ObjectDetection).

Example

 bool gripperStatusFlags(Robotiq::Gripper& gripper)

 {

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

  bool activated = status.gripperStatus.activated(); // gACT flag

  bool goTo = status.gripperStatus.goToEnabled(); // gGTO flag

  if(status.gripperStatus.activationState() == Robotiq::ActivationState::Complete

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

  {

  // motion has settled

  }

  return activated && goTo;

 }

Included Headers

#include <status.hpp>

Members

Public Operators
bool	operator== (GripperStatusFlags other) const
bool	operator!= (GripperStatusFlags other) const
Public Member Functions
bool	activated () const
bool	goToEnabled () const
ActivationState	activationState () const
ObjectDetection	objectDetection () const
uint8_t	raw () const
Public Static Functions
static constexpr GripperStatusFlags	fromRaw (uint8_t bits)
	Synthesize a byte the gripper would have sent. More...

Public Operators

operator!=()

bool Robotiq::GripperStatusFlags::operator!= ( GripperStatusFlags other )

inline

Returns

true if the flag bytes differ.

operator==()

bool Robotiq::GripperStatusFlags::operator== ( GripperStatusFlags other )

inline

Returns

true if both flag bytes are identical.

Public Member Functions

activated()

bool Robotiq::GripperStatusFlags::activated ()

inline

Returns

gACT — the echo of the last-sent rACT (activation request).

activationState()

ActivationState Robotiq::GripperStatusFlags::activationState ()

inline

Returns

gSTA — where the activation handshake stands; see ActivationState.

goToEnabled()

bool Robotiq::GripperStatusFlags::goToEnabled ()

inline

Returns

gGTO — the echo of the last-sent rGTO (go-to request).

objectDetection()

ObjectDetection Robotiq::GripperStatusFlags::objectDetection ()

inline

Returns

gOBJ — whether the fingers are moving or stopped on an object; see ObjectDetection.

raw()

uint8_t Robotiq::GripperStatusFlags::raw ()

inline

Returns

The raw GRIPPER STATUS byte.

Public Static Functions

fromRaw()

constexpr GripperStatusFlags Robotiq::GripperStatusFlags::fromRaw ( uint8_t bits )

inline constexpr static

Synthesize a byte the gripper would have sent.

For simulators and for exercising status handling without hardware.

Parameters

bits	The raw GRIPPER STATUS byte.

Returns

A GripperStatusFlags wrapping bits.

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

• status.hpp

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