/home/verbeek/openrobotino_src/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)

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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.

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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.