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00009 #ifndef __kgripper__
00010 #define __kgripper__
00011
00012 #include "knet.h"
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00014
00015
00016
00017 #define KGRIPPER_ORDER_MASK ( KNET_ORDER_LITTLE | \
00018 KNET_ORDER_REP_ADR | KNET_ORDER_LSB_FIRST )
00019
00020
00021
00022
00023
00024 #define ARM_VERSION 0x30
00025 #define ARM_POSITION 0x31
00026 #define ARM_SPEED 0x33
00027 #define ARM_CURRENT 0x34
00028 #define ARM_ON_TARGET 0x36
00029 #define ARM_VOLTAGE 0x37
00030 #define ARM_CAPACITY 0x39
00031 #define ARM_MAX_POSITION 0x3A
00032 #define ARM_MIN_POSITION 0x3C
00033 #define ARM_ORDER 0x3E
00034 #define ARM_MAX_SPEED 0x40
00035 #define ARM_SEARCH_LIMIT 0x41
00036
00037
00038
00039
00040
00041 #define GRIPPER_VERSION 0x30
00042 #define GRIPPER_POSITION 0x31
00043 #define GRIPPER_ORDER 0x32
00044 #define GRIPPER_SPEED 0x33
00045 #define GRIPPER_CURRENT 0x34
00046 #define GRIPPER_TORQUE 0x36
00047 #define GRIPPER_RESISTIVITY 0x38
00048 #define GRIPPER_AMB_IR_LEFT 0x3A
00049 #define GRIPPER_AMB_IR_RIGHT 0x3C
00050 #define GRIPPER_DIST_IR_LEFT 0x3E
00051 #define GRIPPER_DIST_IR_RIGHT 0x40
00052 #define GRIPPER_OPTICAL_BARR 0x42
00053 #define GRIPPER_ON_TARGET 0x43
00054 #define GRIPPER_SEARCH_LIMIT 0x44
00055 #define GRIPPER_MAX_POSITION 0x45
00056
00057
00058
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00060
00061
00062 extern int kgripper_init( void );
00063 extern unsigned char kgripper_Arm_Get_Version( knet_dev_t * dev );
00064 extern unsigned short kgripper_Arm_Get_Position( knet_dev_t * dev );
00065 extern unsigned char kgripper_Arm_Get_Speed( knet_dev_t * dev );
00066 extern unsigned short kgripper_Arm_Get_Current( knet_dev_t * dev );
00067 extern unsigned char kgripper_Arm_OnTarget( knet_dev_t * dev );
00068 extern unsigned short kgripper_Arm_Get_Voltage( knet_dev_t * dev );
00069 extern unsigned char kgripper_Arm_Get_Capacity( knet_dev_t * dev );
00070 extern void kgripper_Arm_Get_Limits( knet_dev_t * dev , unsigned short * Min_Position , unsigned short * Max_Position );
00071 extern unsigned short kgripper_Arm_Get_Order( knet_dev_t * dev );
00072 extern unsigned char kgripper_Arm_Get_Max_Speed( knet_dev_t * dev );
00073 extern unsigned char kgripper_Arm_Get_Search_Limit( knet_dev_t * dev );
00074 extern void kgripper_Arm_Set_Order( knet_dev_t * dev, unsigned short Order );
00075 extern void kgripper_Arm_Set_Max_Speed( knet_dev_t * dev, unsigned char Max_Speed );
00076 extern void kgripper_Arm_Set_Search_Limit( knet_dev_t * dev, unsigned char Search_Limit );
00077
00078 extern unsigned char kgripper_Gripper_Get_Version( knet_dev_t * dev );
00079 extern unsigned char kgripper_Gripper_Get_Position( knet_dev_t * dev );
00080 extern unsigned char kgripper_Gripper_Get_Order( knet_dev_t * dev );
00081 extern unsigned char kgripper_Gripper_Get_Speed( knet_dev_t * dev );
00082 extern unsigned short kgripper_Gripper_Get_Current( knet_dev_t * dev );
00083 extern unsigned short kgripper_Gripper_Get_Torque( knet_dev_t * dev );
00084 extern unsigned short kgripper_Gripper_Get_Resistivity( knet_dev_t * dev );
00085 extern void kgripper_Gripper_Get_Ambiant_IR_Light( knet_dev_t * dev , unsigned short * Amb_IR_Left , unsigned short * Amb_IR_Right );
00086 extern void kgripper_Gripper_Get_Distance_Sensors( knet_dev_t * dev , unsigned short * Dist_IR_Left , unsigned short * Dist_IR_Right );
00087 extern unsigned char kgripper_Gripper_OnTarget( knet_dev_t * dev );
00088 extern unsigned char kgripper_Gripper_Object_Detected( knet_dev_t * dev );
00089 extern unsigned char kgripper_Gripper_Get_Search_Limit( knet_dev_t * dev );
00090 extern unsigned char kgripper_Gripper_Get_Limits( knet_dev_t * dev );
00091 extern void kgripper_Gripper_Set_Order( knet_dev_t * dev, unsigned char Order );
00092 extern void kgripper_Gripper_Set_Torque( knet_dev_t * dev, unsigned short Torque );
00093 extern void kgripper_GripperSet_Search_Limit( knet_dev_t * dev, unsigned char Search_Limit );
00094
00095 #endif