Gripper¶

class mobrob_behcon.connectors.gripper.Gripper(ros_service='attiny_command')[source]¶

The class Gripper

Represents a connector to the gripper service of the robot. Provides multiple functions to control the gripper.

Methods

`__init__`([ros_service])	constructor
`getPosGRIP`()
`getPosVERT`()
`initGRIP`()
`initVERT`()
`moveAbsGRIP`(value)
`moveAbsVERT`(value)
`moveRelGRIP`(value)
`moveRelVERT`(value)
`refreshServo`()
`send_command`(command)
`setActivServo`(value)
`setSpeedGRIP`(value)
`setSpeedVERT`(value)
`setStayActivStepper`(value)
`stopAll`()
`stopGRIP`()
`stopVERT`()
`writeServo`(angle)

Details

__init__(ros_service='attiny_command')[source]¶

constructor

Parameters: ros_service (string) – name of service for attiny (default: ‘attiny_command’)

getPosGRIP()[source]¶

getPosVERT()[source]¶

initGRIP()[source]¶

initVERT()[source]¶

moveAbsGRIP(value)[source]¶

moveAbsVERT(value)[source]¶

moveRelGRIP(value)[source]¶

moveRelVERT(value)[source]¶

refreshServo()[source]¶

send_command(command)[source]¶

setActivServo(value)[source]¶

setSpeedGRIP(value)[source]¶

setSpeedVERT(value)[source]¶

setStayActivStepper(value)[source]¶

stopAll()[source]¶

stopGRIP()[source]¶

stopVERT()[source]¶

writeServo(angle)[source]¶