Gripper Class Reference

#include <body/Gripper.h>

Detailed Description

Controls a TB662 motor controller to open/close gripper hand.

Smoke will run for a maximum of 6.5 seconds with a minimum of 5 minute pause in between activations.

ANIMATION(gripper)
{
    DO_START()
    // Gripper arm
    DO_COMMAND("GPARM")
    // Gripper on
    DO_COMMAND("GPON")
    // Fake being dead for 8 seconds
    DO_WAIT_SEC(8)
    // Ok We are back!
    DO_COMMAND("ST$0109")
    // Close pies
    DO_ONCE({
        // Close pie panels
        servoDispatch.moveServosTo(PIE_PANELS_MASK, 150, 100, 2400);
    })
    DO_END()
}

Inheritance diagram for Gripper:

Collaboration diagram for Gripper:

Public Member Functions
	Gripper (byte idPin, byte in1Pin, byte in2Pin, byte pwmPin, byte standbyPin, byte gripperOpenPin, byte gripperClosePin)
	Constructor. More...
bool	isAttached ()
bool	isGripperOpen ()
bool	isGripperClosed ()
void	gripperArm ()
	Arm gripper. More...
void	gripperDisarm ()
	Disarm gripper. More...
void	gripperOn ()
	Turn on the gripper. More...
void	gripperOff ()
	Turn off the smoke machine. More...
virtual void	handleCommand (const char *cmd) override
	Gripper Commands start with 'GP'. More...
virtual void	animate () override
	Perform a single frame of welder animation. More...
Public Member Functions inherited from CommandEvent
	CommandEvent ()
	Default Constructor. More...
virtual void	handleCommand (String cmd)
	Subclasses should implement this function to process commands specific to their device. More...

Additional Inherited Members
Static Public Member Functions inherited from CommandEvent
static void	process (char *cmd)
	Calls handleCommand() for each created CommandEvent subclass. More...
static void	process (const char *cmd)
	Calls handleCommand() for each created CommandEvent subclass. More...
static void	process (PROGMEMString pcmd)
	Calls handleCommand() for each created CommandEvent subclass. More...

Constructor & Destructor Documentation

Gripper()

Gripper::Gripper ( byte  idPin, byte  in1Pin, byte  in2Pin, byte  pwmPin, byte  standbyPin, byte  gripperOpenPin, byte  gripperClosePin  )

inline

Constructor.

Member Function Documentation

animate()

virtual void Gripper::animate ( )

inlineoverridevirtual

Perform a single frame of welder animation.

Implements AnimatedEvent.

gripperArm()

void Gripper::gripperArm ( )

inline

Arm gripper.

gripperDisarm()

void Gripper::gripperDisarm ( )

inline

Disarm gripper.

gripperOff()

void Gripper::gripperOff ( )

inline

Turn off the smoke machine.

gripperOn()

void Gripper::gripperOn ( )

inline

Turn on the gripper.

handleCommand()

virtual void Gripper::handleCommand ( const char *  cmd )

inlineoverridevirtual

Gripper Commands start with 'GP'.

Implements CommandEvent.

isAttached()

bool Gripper::isAttached ( )

inline

isGripperClosed()

bool Gripper::isGripperClosed ( )

inline

isGripperOpen()

bool Gripper::isGripperOpen ( )

inline

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The documentation for this class was generated from the following file:

• body/Gripper.h