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Interface EDU.gatech.cc.is.abstractrobot.GripperActuator
- 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
- Version:
- $Revision: 1.2 $
- Author:
- Tucker Balch
-
getObjectInGripper(long)
- Get the kind of object in the gripper.
-
setGripperFingers(long, double)
- Set the gripper "finger" position from 0 to 1, with
0 being closed and 1 being open.
-
setGripperHeight(long, double)
- Set the gripper height from 0 to 1, with
0 being down and 1 being up.
getObjectInGripper
public abstract 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 abstract 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 abstract 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.
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