Pioneer Gripper
The state byte also comes, along with other salient information about the Pioneer
Gripper and its current status, in a special
GRIPPERpac
SIP (type 224; 0xE0). When
connected, the client requests a single
GRIPPERpac
packet or can have the servers
send an updated
GRIPPERpac
every client-server cycle, usually just after the standard
SIP.
Use the
GRIPREQUEST
command #37 with argument value of one to request a single
GRIPPERpac
; greater than 1 for continuous (one-per-cycle) packets; or zero to halt
continuous packets.
Table 5.
GRIPPERpa
c SIP contents
HEADER
int
Exactly 0xFA, 0xFB (250,251)
BYTE COUNT
byte
Number of data bytes + 2 (checksum)
TYPE
byte
Packet type = 0xE0
H
AS
G
RIPPER
byte
Gripper type: 0=none; 1=P2/3; 2=PeopleBot
GRIP
_
STATE
byte See
nearby Table
GRASP
_T
IME
byte
MS time controls grasping pressure
CHECKSUM
integer
Computed
checksum
ARIA
G
RIPPER
S
UPPORT
ActivMedia Robotics’ Interface for Applications (ARIA) development environment
contains all the client-side foundation software that you need to operate and monitor
the Pioneer Gripper and robot-controller servers for you own robotics applications. We
encourage you to examine the various source files and included documentation that
better detail ARIA’s inner workings than we supply here.
A good place to start is in the ARIA
examples/
directory. Look for the
gripperDemo.cpp
. It uses the
ArGripper
and
ArGripperCommands
C++-language
classes to set up and operate the Pioneer Gripper. Find detailed documentation of
those classes, as well as the entire ARIA suite, in the ARIA Reference manuals.
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