Struct GripperStatus

pub struct GripperStatus {
    pub act: bool,
    pub gto: bool,
    pub sta: ActivationStatus,
    pub obj: ObjDetectStatus,
    pub fault: GripperFault,
    pub k_flt: u8,
    pub pos_req: u8,
    pub pos: u8,
    pub current: u8,
}

Robot Input / Status of the gripper

Read from register starting at 2000, 6 bytes of data. Detailing the status of gripper, e.g. current position, speed, force …

Fields

act: bool

Activation status, echo of the rACT bit (activation bit).

gto: bool

Action status, echo of the rGTO bit (go to bit).

sta: ActivationStatus

gripper status, returns the current status and motion of the gripper fingers

obj: ObjDetectStatus

Objected detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gto == 0

fault: GripperFault

Fault status returns general error messages that are useful for troubleshooting.

k_flt: u8

Other fault status, the masked higher 4 bits of register FAULT STATUS, (mask 0xF0).

pos_req: u8

Echo of the requested position for the gripper, value between 0x00 and 0xFF.

pos: u8

Actual position of the gripper obtained via the encoders, value between 0x00 and 0xFF.

current: u8

The current is read instantaneously form the motor drive, value between 0x00 and 0xFF, approximate current equivalent is 10 * current in mA.

Implementations

impl GripperStatus

pub fn parse(bytes: Vec<u8>) -> Self

parse the gripper status from the registers.

Trait Implementations

impl Clone for GripperStatus

fn clone(&self) -> GripperStatus

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for GripperStatus

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for GripperStatus

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl From<Vec<u8>> for GripperStatus

fn from(value: Vec<u8>) -> Self

Converts to this type from the input type.

impl Serialize for GripperStatus

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.