22
15 luglio 2019
Get the actual qb SoftHand Industry motor velocity in percent value
w.r.t. the maximum value.
std::string getStatistics()
Get the qb SoftHand Industry device information.
bool isInitialized()
Return true if the initialization procedure has succeeded.
return
`true`
on success.
int setClosure(const float &position)
Send the given percent-position closure command reference to the qb
SoftHand Industry.
Position
the percent-position command reference, in range [0, 100] % where `0`
is the fully open configuration, and `100` is the fully closed.
return
`0` on success; `-1` if the position is out of range.
int setClosure(const float &position, const float &velocity, const float
¤t)
Send the given percent-position closure command reference to the qb
SoftHand Industry, together with the speed reference command and
the maximum force that should be applied during the grasp.
This is the most complete command to send a reference to the qb
SoftHand and should be used for special cases. In normal usage, the
simpler version above should be preferred. All the parameters are
expressed in percent w.r.t. the maximum possible value.
Position
the percent-position command reference, in range [\p 0, \p 100] %
where \p 0 is the fully open configuration, and `100` is the fully closed.
Velocity
the speed command reference, in range [12.5, 100] % where `12.5` is
the minimum velocity of the closure, and `100` is full speed.
Current
the current threshold for the motor, in range [62.5, 100] % where `62.5`
is the minimum force that the hand can apply, and `100` is the
