00001
00002
00003 #ifndef _REC_ROBOTINO_COM_C_GRIPPER_H_
00004 #define _REC_ROBOTINO_COM_C_GRIPPER_H_
00005
00006 #include "rec/robotino/com/c/globals.h"
00007 #include "rec/robotino/com/c/Com.h"
00008
00019 typedef int GripperId;
00020
00021 #define INVALID_GRIPPERID -1
00022
00027 DLLEXPORT GripperId Gripper_construct();
00028
00034 DLLEXPORT BOOL Gripper_destroy( GripperId id );
00035
00040 DLLEXPORT BOOL Gripper_setComId( GripperId id, ComId comId );
00041
00045 DLLEXPORT BOOL Gripper_open( GripperId id );
00046
00050 DLLEXPORT BOOL Gripper_close( GripperId id );
00051
00056 DLLEXPORT BOOL Gripper_isOpened( GripperId id );
00057
00062 DLLEXPORT BOOL Gripper_isClosed( GripperId id );
00063
00064 #endif //_REC_ROBOTINO_COM_C_GRIPPER_H_