EDU.gatech.cc.is.abstractrobot
Interface GripperActuator

All Known Subinterfaces:

Capture, MultiForageN150

public interface GripperActuator

The GripperActuator class provides an abstract interface to the hardware of a robot that can grip things.

Copyright (c)1997, 1998 Tucker Balch

Method Summary

int	getObjectInGripper(long timestamp) Get the kind of object in the gripper.
void	setGripperFingers(long timestamp, double position) Set the gripper "finger" position from 0 to 1, with 0 being closed and 1 being open.
void	setGripperHeight(long timestamp, double position) Set the gripper height from 0 to 1, with 0 being down and 1 being up.

Method Detail

getObjectInGripper

public int getObjectInGripper(long timestamp)

Get the kind of object in the gripper.

Parameters:

timestamp - only get new information if timestamp > than last call or timestamp == -1.

Returns:

channel (1-6) which type/color of object in the gripper, 0 otherwise.

setGripperFingers

public void setGripperFingers(long timestamp,
                              double position)

Set the gripper "finger" position from 0 to 1, with 0 being closed and 1 being open. A value of -1 puts the gripper in a special "trigger" mode where it will close whenever vision detects an attractor in the gripper. In simulation, any setting other than 1 means closed.

Parameters:

position - the desired position from 0 to 1.

setGripperHeight

public void setGripperHeight(long timestamp,
                             double position)

Set the gripper height from 0 to 1, with 0 being down and 1 being up. In simulation this has no effect.

Parameters:

position - the desired position from 0 to 1.