/home/ciesla/projects/svn.openrobotino.org/openrobotino1/lib/rec/robotino/com/c/Gripper.h File Reference

In "rec/robotino/com/c/Gripper.h" you can find functions for reading Robotino's bumper. More...

#include "rec/robotino/com/c/globals.h"
#include "rec/robotino/com/c/Com.h"

Go to the source code of this file.

Defines

#define INVALID_GRIPPERID   -1

Typedefs

typedef int GripperId

Functions

DLLEXPORT GripperId Gripper_construct ()
DLLEXPORT BOOL Gripper_destroy (GripperId id)
DLLEXPORT BOOL Gripper_setComId (GripperId id, ComId comId)
DLLEXPORT BOOL Gripper_open (GripperId id)
DLLEXPORT BOOL Gripper_close (GripperId id)
DLLEXPORT BOOL Gripper_isOpened (GripperId id)
DLLEXPORT BOOL Gripper_isClosed (GripperId id)


Detailed Description

In "rec/robotino/com/c/Gripper.h" you can find functions for reading Robotino's bumper.

Use Gripper_construct() to create a new gripper object. Associate the gripper object with a com object using Gripper_setComId(). Use Gripper_open() to open the gripper. Use Gripper_close() to open the gripper. Use Gripper_isOpened() to check if the gripper is opened. Use Gripper_isClosed() to check if the gripper is closed.


Function Documentation

DLLEXPORT BOOL Gripper_close ( GripperId  id  ) 

Close gripper.

DLLEXPORT GripperId Gripper_construct (  ) 

Construct an gripper object

Returns:
Returns the ID of the newly constructed gripper object.

DLLEXPORT BOOL Gripper_destroy ( GripperId  id  ) 

Destroy the gripper object assigned to id

Parameters:
id The id of the gripper object to be destroyed
Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given GripperId is invalid.

DLLEXPORT BOOL Gripper_isClosed ( GripperId  id  ) 

Returns:
Returns true if gripper is closed. False otherwise.
See also:
isOpened

DLLEXPORT BOOL Gripper_isOpened ( GripperId  id  ) 

Returns:
Returns true if gripper is opened. False otherwise.
See also:
isClosed

DLLEXPORT BOOL Gripper_open ( GripperId  id  ) 

Open gripper.

DLLEXPORT BOOL Gripper_setComId ( GripperId  id,
ComId  comId 
)

Associated a gripper object with a communication interface, i.e. binding the gripper to a specific Robotino

Returns:
Returns TRUE (1) on success. Returns FALSE (0) if the given GripperId or ComId is invalid.


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