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Gripper Operation and Programming
14
Table 3-2. Gripper functions
/*************************************************************
* Gripper functions --- For setting and retrieving gripper states
* States are sfGRIPUP, sfGRIPDOWN, sfGRIPMIDDLE, sfGRIPOFF,
* and sfGRIPMOVING
* sfGRIPMOVING occurs only during transitions between states
* sfGRIPOFF can be set by the user, which means no state control
* sfGRIPOFF is set by the robot to indicate a timeout (6
* seconds) if a state is not achieved
*
**************************************************************/
/* states */
#define sfGRIPOFF 0
#define sfGRIPUP 1
#define sfGRIPMOVING 2
#define sfGRIPMIDDLE 4
#define sfGRIPDOWN 5
#define sfCOMGRIPPER 33
/* gripper control bits (DIGOUTPUT) */
#define sfGRIPSTATEMASK 0x05 /* picks out state bits in DIGOUTPUT */
#define sfGRIPMOTORBIT 0x02 /* motor bit, 0 is off, 1 is on */
#define sfGRIPDIRBIT 0x01 /* direction bit, 0 is down, 1 is up */
#define sfSPEAKERBIT 0x04
#define sfRIGHTLEDBIT 0x08 /* 0 is off, 1 is on */
#define sfLEFTLEDBIT 0x10
/* gripper sense bits (DIGINPUT) */
#define sfGRIPTOPBIT 0x01 /* top limit switch, 0 if hit */
#define sfGRIPMIDBIT 0x02 /* carry switch, 0 if hit */
#define sfGRIPBOTBIT 0x04 /*open limit switch, 0 if hit */
#define sfGRIPINIRBIT 0x08 /* inner break beam, 1 is beam break */
#define sfGRIPOUTIRBIT 0x10 /* outer break beam, 1 is beam break */
#define sfGRIPBUMPBIT 0x20 /* gripper bumpers, 0 is bump */
#define sfGRIPMOMBIT 0x40 /* momentary switch, 0 is pressed */
#define sfGRIPSPSTBIT 0x80 /* SPST switch, 0 is up */