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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

Method Index

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

Methods

 o 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.
 o 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.
 o 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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