device
Class Gripper

java.lang.Object
  device.Device
      device.RobotDevice
          device.Gripper

All Implemented Interfaces:

IDevice, IGripper, java.lang.Runnable

public class Gripper
extends RobotDevice
implements IGripper

A Gripper device represents a mechanical actuator consisting of typically two paddles that can open/close and lift/release to manipulate some objects.

Nested Class Summary

Nested classes/interfaces inherited from interface device.external.IGripper

IGripper.stateType

Field Summary

(package private) Actarray	aa Controls a lift on the gripper (if gripper equipped)
(package private) IGripper.stateType	currentState
(package private) Dio	dio Copied from JavaClient: Data: state (PLAYER_GRIPPER_DATA_STATE) The gripper interface returns 3 values that represent the current state of the gripper; the format is given below.
(package private) java.util.concurrent.CopyOnWriteArrayList<IGripperListener>	isDoneListeners Callback listeners
(package private) java.util.logging.Logger	logger Logging support
(package private) boolean	timeout

Fields inherited from class device.RobotDevice

device, deviceNode

Fields inherited from class device.Device

deviceList, host, id, index, isRunning, isThreaded, port, sleeptime, thread

Fields inherited from interface device.external.IDevice

DEVICE_ACTARRAY_CODE, DEVICE_AIO_CODE, DEVICE_AUDIO_CODE, DEVICE_AUDIODSP_CODE, DEVICE_AUDIOMIXER_CODE, DEVICE_BLINKENLIGHT_CODE, DEVICE_BLOBFINDER_CODE, DEVICE_BUMPER_CODE, DEVICE_CAMERA_CODE, DEVICE_DEVICE_CODE, DEVICE_DIO_CODE, DEVICE_ENERGY_CODE, DEVICE_FIDUCIAL_CODE, DEVICE_GPS_CODE, DEVICE_GRAPHICS2D_CODE, DEVICE_GRAPHICS3D_CODE, DEVICE_GRIPPER_CODE, DEVICE_HEALTH_CODE, DEVICE_IMU_CODE, DEVICE_IR_CODE, DEVICE_JOYSTICK_CODE, DEVICE_LASER_CODE, DEVICE_LIMB_CODE, DEVICE_LOCALIZE_CODE, DEVICE_LOG_CODE, DEVICE_MAP_CODE, DEVICE_MCOM_CODE, DEVICE_NOMAD_CODE, DEVICE_NULL_CODE, DEVICE_OPAQUE_CODE, DEVICE_PLANNER_CODE, DEVICE_POINTCLOUD3D_CODE, DEVICE_POSITION1D_CODE, DEVICE_POSITION2D_CODE, DEVICE_POSITION3D_CODE, DEVICE_POWER_CODE, DEVICE_PTZ_CODE, DEVICE_RANGER_CODE, DEVICE_RFID_CODE, DEVICE_SERVICE_ADV_CODE, DEVICE_SIMULATION_CODE, DEVICE_SONAR_CODE, DEVICE_SOUND_CODE, DEVICE_SPEECH_CODE, DEVICE_SPEECH_RECOGNITION_CODE, DEVICE_TRUTH_CODE, DEVICE_WAVEFORM_CODE, DEVICE_WIFI_CODE, DEVICE_WSN_CODE

Constructor Summary

Gripper(DeviceNode deviceNode, Device device)
Creates a Gripper object.

Method Summary

void	addIsDoneListener(IGripperListener cb)
void	close() Deprecated. Use close(IGripperListener). Close the gripper's paddles.
void	close(IGripperListener cb)
void	closeLift() Deprecated. Use closeLift(IGripperListener).
void	closeLift(IGripperListener cb)
Actarray	getAa()
IGripper.stateType	getCurrentState()
Dio	getDio()
java.util.logging.Logger	getLogger()
IGripper.stateType	getState()
void	lift() Deprecated. Use lift(IGripperListener). Lift the gripper's paddles (if supported).
void	lift(IGripperListener cb)
void	liftWithObject() Sets up the gripper to only close and lift paddles when an object is sensed between the paddles.
(package private) void	notifyListenersClosed()
(package private) void	notifyListenersClosedLifted()
(package private) void	notifyListenersError()
(package private) void	notifyListenersLifted()
(package private) void	notifyListenersOpened()
(package private) void	notifyListenersReleased()
(package private) void	notifyListenersReleasedOpened()
void	open() Deprecated. Use open(IGripperListener). Opens the gripper's paddles. If available sensors are used to determine when the paddles are open.
void	open(IGripperListener cb)
void	release() Release the gripper's paddles (if supported).
void	release(IGripperListener cb)
void	releaseOpen() Deprecated. Use releaseOpen(IGripperListener).
void	releaseOpen(IGripperListener cb)
void	removeIsDoneListener(IGripperListener cb)
protected void	setAa(Actarray aa)
(package private) void	setCurrentState(IGripper.stateType newState)
protected void	setDio(Dio dio)
void	shutdown() Shuts down this (and any sub-) device.
(package private) void	startClose()
(package private) void	startLift()
(package private) void	startOpen()
(package private) void	startRelease()
void	stop() Stops the gripper current motion (if any).
protected void	update() Might be to be implemented by subclass to do something
(package private) void	updateActarray() During runtime checks if an actarray device is available, typically used to lift/release the paddles.
(package private) void	updateDio() During runtime checks if an dio device is available, typically used to sensor gripper states.

Methods inherited from class device.RobotDevice

getDevice, getDeviceNode, toString

Methods inherited from class device.Device

equals, getDevice, getDeviceIterator, getDeviceList, getDeviceListArray, getHost, getId, getIndex, getPort, getSleepTime, getThreadName, isInList, isRunning, isSupported, isThreaded, matches, matchesList, run, runThreaded, setDeviceList, setHost, setName, setPort, setSleepTime

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Detail

currentState

IGripper.stateType currentState

isDoneListeners

java.util.concurrent.CopyOnWriteArrayList<IGripperListener> isDoneListeners

Callback listeners

logger

java.util.logging.Logger logger

Logging support

aa

Actarray aa

Controls a lift on the gripper (if gripper equipped)

dio

Dio dio

Copied from JavaClient: Data: state (PLAYER_GRIPPER_DATA_STATE) The gripper interface returns 3 values that represent the current state of the gripper; the format is given below. Note that the exact interpretation of this data may vary depending on the details of your gripper and how it is connected to your robot (e.g., General I/O vs. User I/O for the Pioneer gripper). The following list defines how the data can be interpreted for some Pioneer robots and Stage: - state (unsigned byte) - bit 0: Paddles open - bit 1: Paddles closed - bit 2: Paddles moving - bit 3: Paddles error - bit 4: Lift is up - bit 5: Lift is down - bit 6: Lift is moving - bit 7: Lift error - beams (unsigned byte) - bit 0: Gripper limit reached - bit 1: Lift limit reached - bit 2: Outer beam obstructed - bit 3: Inner beam obstructed - bit 4: Left paddle open - bit 5: Right paddle open

timeout

boolean timeout

Constructor Detail

Gripper

public Gripper(DeviceNode deviceNode,
               Device device)

Creates a Gripper object.

Parameters:

deviceNode - The device node containing this device.

device - This device' properties.

Method Detail

shutdown

public void shutdown()

Description copied from class: Device

Shuts down this (and any sub-) device.

Specified by:

shutdown in interface IDevice

Overrides:

shutdown in class Device

update

protected void update()

Description copied from class: Device

Might be to be implemented by subclass to do something

Overrides:

update in class Device

getCurrentState

public IGripper.stateType getCurrentState()

setCurrentState

void setCurrentState(IGripper.stateType newState)

stop

public void stop()

Stops the gripper current motion (if any).

open

public void open()

Deprecated. Use open(IGripperListener). Opens the gripper's paddles. If available sensors are used to determine when the paddles are open.

open

public void open(IGripperListener cb)

Specified by:

open in interface IGripper

startOpen

void startOpen()

close

public void close()

Deprecated. Use close(IGripperListener). Close the gripper's paddles.

close

public void close(IGripperListener cb)

Specified by:

close in interface IGripper

startClose

void startClose()

lift

public void lift()

Deprecated. Use lift(IGripperListener). Lift the gripper's paddles (if supported).

lift

public void lift(IGripperListener cb)

Specified by:

lift in interface IGripper

startLift

void startLift()

liftWithObject

public void liftWithObject()

Sets up the gripper to only close and lift paddles when an object is sensed between the paddles.

releaseOpen

public void releaseOpen()

Deprecated. Use releaseOpen(IGripperListener).

releaseOpen

public void releaseOpen(IGripperListener cb)

Specified by:

releaseOpen in interface IGripper

closeLift

public void closeLift()

Deprecated. Use closeLift(IGripperListener).

closeLift

public void closeLift(IGripperListener cb)

Specified by:

closeLift in interface IGripper

release

public void release()

Release the gripper's paddles (if supported). Use sensors to determine if paddles are released (if available).

release

public void release(IGripperListener cb)

Specified by:

release in interface IGripper

startRelease

void startRelease()

updateActarray

void updateActarray()

During runtime checks if an actarray device is available, typically used to lift/release the paddles.

updateDio

void updateDio()

During runtime checks if an dio device is available, typically used to sensor gripper states. Normally that is supported by some photo diodes.

getState

public IGripper.stateType getState()

Returns:

The current state the gripper is in.

getLogger

public java.util.logging.Logger getLogger()

Overrides:

getLogger in class RobotDevice

Returns:

the logger

getAa

public Actarray getAa()

Returns:

the aa

getDio

public Dio getDio()

Returns:

the dio

setAa

protected void setAa(Actarray aa)

Parameters:

aa - the aa to set

setDio

protected void setDio(Dio dio)

Parameters:

dio - the dio to set

addIsDoneListener

public void addIsDoneListener(IGripperListener cb)

Specified by:

addIsDoneListener in interface IGripper

removeIsDoneListener

public void removeIsDoneListener(IGripperListener cb)

Specified by:

removeIsDoneListener in interface IGripper

notifyListenersOpened

void notifyListenersOpened()

notifyListenersClosed

void notifyListenersClosed()

notifyListenersLifted

void notifyListenersLifted()

notifyListenersReleased

void notifyListenersReleased()

notifyListenersClosedLifted

void notifyListenersClosedLifted()

notifyListenersReleasedOpened

void notifyListenersReleasedOpened()

notifyListenersError

void notifyListenersError()