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Gripper Operation and Programming

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 */

1 2 ... 13 14 15 16 17 18 19 20 21 22 23 ... 31 32

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