Pioneer 2 Operating System
LIFTCarry
The
LIFTcarry
command and required
carry_time
operating parameter let you use
the Gripper to lift or lower an object some distance between the top and bottom of the
lift's limits. The
grip_carry
distance is time-based, since there are no travel-encoders
attached. Accordingly, the actual lift distance will be imprecise, depending on load,
battery voltage, and a variety of other factors. Under no-load and otherwise normal
conditions, assume approximately two centimeters per second of travel.
Gripper States and Status
Salient Gripper information gets included in the standard Server Information Packet (SIP)
that AROS regularly sends to a connected client, including a special
grip_state
byte,
as well as the states of the
digin
and
digout
User I/O ports that drive the Gripper
electronics.
Table 12. GRIPPERpac packet contents
HEADER
int
Exactly 0xFA, 0xFB
BYTE COUNT
byte
Number of data bytes + 2 (checksum)
TYPE
byte
Packet type = 0xE0
H
AS
G
RIPPER
byte
Gripper type: 0=none; 1=User; 2=PeopleBot
GRIP
_
STATE
byte See
nearby Table
GRASP
_T
IME
byte
MS time controls grasping pressure
CHECKSUM
integer
Computed
checksum
AROS also supports a
GRIPPERpac
(type=224; 0xE0) packet type and related
GRIPREQUEST
AROS command #37 to retrieve setup and status information from the
servers.
Normally disabled, your client program may request one or a continuous stream
(command argument > one) of Gripper packets. Send
GRIPREQUEST
with the
argument value zero to stop continuous packets.
Table 13. GRIPPERpac state and standard SIP grip_state byte
BIT
FUNCTION
STATE
0
Grip limit
paddles fully open when 0; otherwise between or closed
1
Lift limit
Lift fully up or down when 0; otherwise in between
2
Outer breakbeam obstructed when 0; nothing in between when 1
3
Inner breakbeam obstructed when 0; nothing in between when 1
4
Left paddle
grasping when 0
5
Right paddle
grasping when 0
6
Lift
moving when 1
7
Gripper
moving when 1
50