kb_gripper.h File Reference

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Defines

#define KGRIPPER_ORDER_MASK
#define ARM_VERSION   0x30
#define ARM_POSITION   0x31
#define ARM_SPEED   0x33
#define ARM_CURRENT   0x34
#define ARM_ON_TARGET   0x36
#define ARM_VOLTAGE   0x37
#define ARM_CAPACITY   0x39
#define ARM_MAX_POSITION   0x3A
#define ARM_MIN_POSITION   0x3C
#define ARM_ORDER   0x3E
#define ARM_MAX_SPEED   0x40
#define ARM_SEARCH_LIMIT   0x41
#define GRIPPER_VERSION   0x30
#define GRIPPER_POSITION   0x31
#define GRIPPER_ORDER   0x32
#define GRIPPER_SPEED   0x33
#define GRIPPER_CURRENT   0x34
#define GRIPPER_TORQUE   0x36
#define GRIPPER_RESISTIVITY   0x38
#define GRIPPER_AMB_IR_LEFT   0x3A
#define GRIPPER_AMB_IR_RIGHT   0x3C
#define GRIPPER_DIST_IR_LEFT   0x3E
#define GRIPPER_DIST_IR_RIGHT   0x40
#define GRIPPER_OPTICAL_BARR   0x42
#define GRIPPER_ON_TARGET   0x43
#define GRIPPER_SEARCH_LIMIT   0x44
#define GRIPPER_MAX_POSITION   0x45

Functions

int kgripper_init (void)
unsigned char kgripper_Arm_Get_Version (knet_dev_t *dev)
unsigned short kgripper_Arm_Get_Position (knet_dev_t *dev)
unsigned char kgripper_Arm_Get_Speed (knet_dev_t *dev)
unsigned short kgripper_Arm_Get_Current (knet_dev_t *dev)
unsigned char kgripper_Arm_OnTarget (knet_dev_t *dev)
unsigned short kgripper_Arm_Get_Voltage (knet_dev_t *dev)
unsigned char kgripper_Arm_Get_Capacity (knet_dev_t *dev)
void kgripper_Arm_Get_Limits (knet_dev_t *dev, unsigned short *Min_Position, unsigned short *Max_Position)
unsigned short kgripper_Arm_Get_Order (knet_dev_t *dev)
unsigned char kgripper_Arm_Get_Max_Speed (knet_dev_t *dev)
unsigned char kgripper_Arm_Get_Search_Limit (knet_dev_t *dev)
void kgripper_Arm_Set_Order (knet_dev_t *dev, unsigned short Order)
void kgripper_Arm_Set_Max_Speed (knet_dev_t *dev, unsigned char Max_Speed)
void kgripper_Arm_Set_Search_Limit (knet_dev_t *dev, unsigned char Search_Limit)
unsigned char kgripper_Gripper_Get_Version (knet_dev_t *dev)
unsigned char kgripper_Gripper_Get_Position (knet_dev_t *dev)
unsigned char kgripper_Gripper_Get_Order (knet_dev_t *dev)
unsigned char kgripper_Gripper_Get_Speed (knet_dev_t *dev)
unsigned short kgripper_Gripper_Get_Current (knet_dev_t *dev)
unsigned short kgripper_Gripper_Get_Torque (knet_dev_t *dev)
unsigned short kgripper_Gripper_Get_Resistivity (knet_dev_t *dev)
void kgripper_Gripper_Get_Ambiant_IR_Light (knet_dev_t *dev, unsigned short *Amb_IR_Left, unsigned short *Amb_IR_Right)
void kgripper_Gripper_Get_Distance_Sensors (knet_dev_t *dev, unsigned short *Dist_IR_Left, unsigned short *Dist_IR_Right)
unsigned char kgripper_Gripper_OnTarget (knet_dev_t *dev)
unsigned char kgripper_Gripper_Object_Detected (knet_dev_t *dev)
unsigned char kgripper_Gripper_Get_Search_Limit (knet_dev_t *dev)
unsigned char kgripper_Gripper_Get_Limits (knet_dev_t *dev)
void kgripper_Gripper_Set_Order (knet_dev_t *dev, unsigned char Order)
void kgripper_Gripper_Set_Torque (knet_dev_t *dev, unsigned short Torque)
void kgripper_GripperSet_Search_Limit (knet_dev_t *dev, unsigned char Search_Limit)

Define Documentation

#define ARM_CAPACITY   0x39

Definition at line 30 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Capacity().

#define ARM_CURRENT   0x34

Definition at line 27 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Current().

#define ARM_MAX_POSITION   0x3A

Definition at line 31 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Limits().

#define ARM_MAX_SPEED   0x40

Definition at line 34 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Max_Speed(), and kgripper_Arm_Set_Max_Speed().

#define ARM_MIN_POSITION   0x3C

Definition at line 32 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Limits().

#define ARM_ON_TARGET   0x36

Definition at line 28 of file kb_gripper.h.

Referenced by kgripper_Arm_OnTarget().

#define ARM_ORDER   0x3E

Definition at line 33 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Order(), and kgripper_Arm_Set_Order().

#define ARM_POSITION   0x31

Definition at line 25 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Position().

#define ARM_SEARCH_LIMIT   0x41

Definition at line 35 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Search_Limit(), and kgripper_Arm_Set_Search_Limit().

#define ARM_SPEED   0x33

Definition at line 26 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Speed().

#define ARM_VERSION   0x30

Definition at line 24 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Version().

#define ARM_VOLTAGE   0x37

Definition at line 29 of file kb_gripper.h.

Referenced by kgripper_Arm_Get_Voltage().

#define GRIPPER_AMB_IR_LEFT   0x3A

Definition at line 48 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Ambiant_IR_Light().

#define GRIPPER_AMB_IR_RIGHT   0x3C

Definition at line 49 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Ambiant_IR_Light().

#define GRIPPER_CURRENT   0x34

Definition at line 45 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Current().

#define GRIPPER_DIST_IR_LEFT   0x3E

Definition at line 50 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Distance_Sensors().

#define GRIPPER_DIST_IR_RIGHT   0x40

Definition at line 51 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Distance_Sensors().

#define GRIPPER_MAX_POSITION   0x45

Definition at line 55 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Limits().

#define GRIPPER_ON_TARGET   0x43

Definition at line 53 of file kb_gripper.h.

Referenced by kgripper_Gripper_OnTarget().

#define GRIPPER_OPTICAL_BARR   0x42

Definition at line 52 of file kb_gripper.h.

Referenced by kgripper_Gripper_Object_Detected().

#define GRIPPER_ORDER   0x32

Definition at line 43 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Order(), and kgripper_Gripper_Set_Order().

#define GRIPPER_POSITION   0x31

Definition at line 42 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Position().

#define GRIPPER_RESISTIVITY   0x38

Definition at line 47 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Resistivity().

#define GRIPPER_SEARCH_LIMIT   0x44

Definition at line 54 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Search_Limit(), and kgripper_GripperSet_Search_Limit().

#define GRIPPER_SPEED   0x33

Definition at line 44 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Speed().

#define GRIPPER_TORQUE   0x36

Definition at line 46 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Torque(), and kgripper_Gripper_Set_Torque().

#define GRIPPER_VERSION   0x30

Definition at line 41 of file kb_gripper.h.

Referenced by kgripper_Gripper_Get_Version().

#define KGRIPPER_ORDER_MASK

Value:

( KNET_ORDER_LITTLE | \
                         KNET_ORDER_REP_ADR | KNET_ORDER_LSB_FIRST )

Definition at line 17 of file kb_gripper.h.

Referenced by kgripper_Arm_Set_Order(), and kgripper_Gripper_Set_Torque().

Function Documentation

unsigned char kgripper_Arm_Get_Capacity ( knet_dev_t *  dev  ) 

This function return the remaining capacity of the battery

Parameters:
dev K-Net Device Descriptor
Returns:
Capacity Remaining capacity of the battery calculate on the voltage (100% if > 8.2V, 0% if < 6.44V)

Definition at line 161 of file kb_gripper.c.

References ARM_CAPACITY, and knet_read8().

Referenced by status().

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unsigned short kgripper_Arm_Get_Current ( knet_dev_t *  dev  ) 

This function return the actual Current of the Gripper Arm

Parameters:
dev K-Net Device Descriptor
Returns:
Current Position Value from 0 (= 0 mA) to 1023 (= 2000mA)

Definition at line 108 of file kb_gripper.c.

References ARM_CURRENT, and knet_read16().

Referenced by status().

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void kgripper_Arm_Get_Limits ( knet_dev_t *  dev,
unsigned short *  Min_Position,
unsigned short *  Max_Position 
)

This function return the mechanical limit of the gripper

Parameters:
dev K-Net Device Descriptor
Max_Position Maximal position of the arm (ground)
Min_Position Minimal position of the arm (position up)

Definition at line 180 of file kb_gripper.c.

References ARM_MAX_POSITION, ARM_MIN_POSITION, and knet_read16().

Referenced by demo(), get(), searchLimit(), and status().

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unsigned char kgripper_Arm_Get_Max_Speed ( knet_dev_t *  dev  ) 

This function return the maximal speed of the arm

Parameters:
dev K-Net Device Descriptor
Returns:
Max_Speed Maximal speed reach by the arm when moving

Definition at line 218 of file kb_gripper.c.

References ARM_MAX_SPEED, and knet_read8().

Referenced by status().

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unsigned short kgripper_Arm_Get_Order ( knet_dev_t *  dev  ) 

This function return the Position order of the Arm

Parameters:
dev K-Net Device Descriptor
Returns:
order Position Order that the arm must reach

Definition at line 200 of file kb_gripper.c.

References ARM_ORDER, and knet_read16().

Referenced by status().

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unsigned short kgripper_Arm_Get_Position ( knet_dev_t *  dev  ) 

This function return the actual Position of the Gripper Arm

Parameters:
dev K-Net Device Descriptor
Returns:
Position Position Value from 300 (Arm in high position) to 900 (Arm on the ground) These values depend on the mechanical limit of the system. Read the Max_position and Min_position parameters to know the limit position

Definition at line 73 of file kb_gripper.c.

References ARM_POSITION, and knet_read16().

Referenced by status().

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unsigned char kgripper_Arm_Get_Search_Limit ( knet_dev_t *  dev  ) 

This function return the search limit flag

Parameters:
dev K-Net Device Descriptor
Returns:
Search_Limit Flag that indicate if the arm is performing a search of the mechanical limit. Reset when finished.

Definition at line 236 of file kb_gripper.c.

References ARM_SEARCH_LIMIT, and knet_read8().

Referenced by searchLimit().

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unsigned char kgripper_Arm_Get_Speed ( knet_dev_t *  dev  ) 

This function return the actual Speed of the Gripper Arm

Parameters:
dev K-Net Device Descriptor
Returns:
Speed Speed Value, positiv if the arm goes move downwards and negativ if the arm mount

Definition at line 91 of file kb_gripper.c.

References ARM_SPEED, and knet_read8().

Referenced by status().

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unsigned char kgripper_Arm_Get_Version ( knet_dev_t *  dev  ) 

This function return the revision of the Arm Gripper OS

Parameters:
dev K-Net Device Descriptor
Returns:
OSVersion Version (4 MSB) and Revision (4 LSB) of the arm Gripper (Ex: 0xA1)

Definition at line 53 of file kb_gripper.c.

References ARM_VERSION, and knet_read8().

Referenced by revisionOS().

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unsigned short kgripper_Arm_Get_Voltage ( knet_dev_t *  dev  ) 

This function return the Battery Voltage

Parameters:
dev K-Net Device Descriptor
Returns:
Voltage Voltage of the gripper Battery (Vbat = value / 102.4) Ex: 758 = 7.4V

Definition at line 143 of file kb_gripper.c.

References ARM_VOLTAGE, and knet_read16().

Referenced by status().

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unsigned char kgripper_Arm_OnTarget ( knet_dev_t *  dev  ) 

This function return if the arm is on the target or not

Parameters:
dev K-Net Device Descriptor
Returns:
OnTarget Position Flag (1 = Arm on target, 0 = Arm in movement)

Definition at line 126 of file kb_gripper.c.

References ARM_ON_TARGET, and knet_read8().

Referenced by demo(), get(), and status().

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void kgripper_Arm_Set_Max_Speed ( knet_dev_t *  dev,
unsigned char  Max_Speed 
)

This function set the maximum speed that the arm can reach

Parameters:
dev K-Net Device Descriptor
Max_Speed Maximal speed from 0 to 15 (default = 5)

Definition at line 271 of file kb_gripper.c.

References ARM_MAX_SPEED, and knet_write8().

Referenced by setMaxSpeed().

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void kgripper_Arm_Set_Order ( knet_dev_t *  dev,
unsigned short  Order 
)

This function set a new Position order to reach. If the value is out of the mechanical limit, the gripper will limit itself automatically

Parameters:
dev K-Net Device Descriptor
order Position Order that the arm must reach

Definition at line 254 of file kb_gripper.c.

References ARM_ORDER, KGRIPPER_ORDER_MASK, knet_set_order(), and knet_write16().

Referenced by demo(), get(), and movearm().

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void kgripper_Arm_Set_Search_Limit ( knet_dev_t *  dev,
unsigned char  Search_Limit 
)

This function start (=1) or stop (=0) the search limit procedure

Parameters:
dev K-Net Device Descriptor
Search_Limit Flag to start the search limit procedure. reset automatically when the procedure is done

Definition at line 287 of file kb_gripper.c.

References ARM_SEARCH_LIMIT, and knet_write8().

Referenced by searchLimit().

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void kgripper_Gripper_Get_Ambiant_IR_Light ( knet_dev_t *  dev,
unsigned short *  Amb_IR_Left,
unsigned short *  Amb_IR_Right 
)

This function return the ambiant light value of the two IR sensor in the finger

Parameters:
dev K-Net Device Descriptor
Amb_IR_Left Ambiant light value of the sensor in the left finger (0 = no light, 1023 = IR satured of IR light)
Amb_IR_right Ambiant light value of the sensor in the right finger (0 = no light, 1023 = IR satured of IR light)

Definition at line 434 of file kb_gripper.c.

References GRIPPER_AMB_IR_LEFT, GRIPPER_AMB_IR_RIGHT, and knet_read16().

Referenced by sensor().

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unsigned short kgripper_Gripper_Get_Current ( knet_dev_t *  dev  ) 

This function return the actual Current of the Gripper Finger

Parameters:
dev K-Net Device Descriptor
Returns:
Current Current Value from 0 (= 0 mA) to 1023 (= 220mA)

Definition at line 381 of file kb_gripper.c.

References GRIPPER_CURRENT, and knet_read16().

Referenced by demo(), get(), grip(), and status().

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void kgripper_Gripper_Get_Distance_Sensors ( knet_dev_t *  dev,
unsigned short *  Dist_IR_Left,
unsigned short *  Dist_IR_Right 
)

This function return the Distance value measured by the two IR sensor in the finger

Parameters:
dev K-Net Device Descriptor
Dist_IR_Left Distance value of the sensor in the left finger (0 = no object, 1023 = Object very close from the left finger)
Dist_IR_right Distance value of the sensor in the right finger (0 = no object, 1023 = Object very close from the right finger)

Definition at line 456 of file kb_gripper.c.

References GRIPPER_DIST_IR_LEFT, GRIPPER_DIST_IR_RIGHT, and knet_read16().

Referenced by sensor().

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unsigned char kgripper_Gripper_Get_Limits ( knet_dev_t *  dev  ) 

This function return the mechanical limit of the gripper finger

Parameters:
dev K-Net Device Descriptor
Max_Position Maximal position of the Gripper (Open)

Definition at line 532 of file kb_gripper.c.

References GRIPPER_MAX_POSITION, and knet_read8().

Referenced by demo(), get(), grip(), searchLimit(), and status().

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unsigned char kgripper_Gripper_Get_Order ( knet_dev_t *  dev  ) 

This function return the Position order of the Gripper finger

Parameters:
dev K-Net Device Descriptor
Returns:
order Position Order that the gripper must reach

Definition at line 344 of file kb_gripper.c.

References GRIPPER_ORDER, and knet_read8().

Referenced by status().

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unsigned char kgripper_Gripper_Get_Position ( knet_dev_t *  dev  ) 

This function return the actual Position of the Gripper finger

Parameters:
dev K-Net Device Descriptor
Returns:
Position Position Value from 0 (Gripper closed) to ~200 (Gripper open) These values depend on the mechanical limit of the system. Read the Max_position parameters to know the limit position

Definition at line 327 of file kb_gripper.c.

References GRIPPER_POSITION, and knet_read8().

Referenced by status().

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unsigned short kgripper_Gripper_Get_Resistivity ( knet_dev_t *  dev  ) 

This function return the Resistivity of the object grip by the Finger

Parameters:
dev K-Net Device Descriptor
Returns:
Torque Resistivity Value from 0 (= insulator) to 1023 (= conductor)

Definition at line 415 of file kb_gripper.c.

References GRIPPER_RESISTIVITY, and knet_read16().

Referenced by get(), and sensor().

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unsigned char kgripper_Gripper_Get_Search_Limit ( knet_dev_t *  dev  ) 

This function return the search limit flag of the gripper finger

Parameters:
dev K-Net Device Descriptor
Returns:
Search_Limit Flag that indicate if the gripper is performing a search of the mechanical limit. Reset when finished.

Definition at line 515 of file kb_gripper.c.

References GRIPPER_SEARCH_LIMIT, and knet_read8().

Referenced by searchLimit().

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unsigned char kgripper_Gripper_Get_Speed ( knet_dev_t *  dev  ) 

This function return the actual Speed of the Gripper finger

Parameters:
dev K-Net Device Descriptor
Returns:
Speed Speed Value, positiv if the gripper opening and negativ if closing

Definition at line 363 of file kb_gripper.c.

References GRIPPER_SPEED, and knet_read8().

Referenced by status().

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unsigned short kgripper_Gripper_Get_Torque ( knet_dev_t *  dev  ) 

This function return the Torque Limit of the Gripper Finger

Parameters:
dev K-Net Device Descriptor
Returns:
Torque Torque Value from 0 (= 0 mA) to 1023 (= 220mA)

Definition at line 398 of file kb_gripper.c.

References GRIPPER_TORQUE, and knet_read16().

Referenced by grip(), and status().

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unsigned char kgripper_Gripper_Get_Version ( knet_dev_t *  dev  ) 

This function return the revision of the head Gripper OS

Parameters:
dev K-Net Device Descriptor
Returns:
OSVersion Version (4 MSB) and Revision (4 LSB) of the Gripper (Ex: 0xA1)

Definition at line 307 of file kb_gripper.c.

References GRIPPER_VERSION, and knet_read8().

Referenced by revisionOS().

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unsigned char kgripper_Gripper_Object_Detected ( knet_dev_t *  dev  ) 

This function return if an object is between the two finger (use the optical barrier)

Parameters:
dev K-Net Device Descriptor
Returns:
Object Presence of an object flag (0 = no object, 1 = object detected)

Definition at line 496 of file kb_gripper.c.

References GRIPPER_OPTICAL_BARR, and knet_read8().

Referenced by get(), and sensor().

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unsigned char kgripper_Gripper_OnTarget ( knet_dev_t *  dev  ) 

This function return if the Gripper Finger is on the target or not

Parameters:
dev K-Net Device Descriptor
Returns:
OnTarget Position Flag (1 = Gripper on target, 0 = Gripper in movement)

Definition at line 478 of file kb_gripper.c.

References GRIPPER_ON_TARGET, and knet_read8().

Referenced by demo(), get(), grip(), and status().

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void kgripper_Gripper_Set_Order ( knet_dev_t *  dev,
unsigned char  Order 
)

This function set a new Position order to reach. If the value is out of the mechanical limit, the gripper will limit itself automatically

Parameters:
dev K-Net Device Descriptor
order Position Order that the gripper finger must reach

Definition at line 550 of file kb_gripper.c.

References GRIPPER_ORDER, and knet_write8().

Referenced by demo(), get(), grip(), and movegrip().

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void kgripper_Gripper_Set_Torque ( knet_dev_t *  dev,
unsigned short  Torque 
)

This function set the maximum Torque that the gripper use to grip object

Parameters:
dev K-Net Device Descriptor
Max_Torque Maximal Torque from 100 to 700 (default = 400)

Definition at line 563 of file kb_gripper.c.

References GRIPPER_TORQUE, KGRIPPER_ORDER_MASK, knet_set_order(), and knet_write16().

Referenced by demo(), get(), and setTorque().

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void kgripper_GripperSet_Search_Limit ( knet_dev_t *  dev,
unsigned char  Search_Limit 
)

This function start (=1) or stop (=0) the search limit procedure of the gripper

Parameters:
dev K-Net Device Descriptor
Search_Limit Flag to start the search limit procedure. reset automatically when the procedure is done

Definition at line 578 of file kb_gripper.c.

References GRIPPER_SEARCH_LIMIT, and knet_write8().

Referenced by searchLimit().

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int kgripper_init ( void   ) 

kgripper_init initializes the KoreBot library This function needs to be called BEFORE any other functions.

Parameters:
none 
Returns:
A value:
  • <0 on error
  • 0 on success

Definition at line 28 of file kb_gripper.c.

References KB_ERROR, KB_ERROR_KH3KBINIT, kb_init(), and KH3_ERROR_KBINIT.

Referenced by initGripper().

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Generated on Wed Dec 15 11:49:28 2010 for KoreBot Library by  doxygen 1.5.5