trossen

Documentation

Overview

Package trossen implements a trossen gripper.

Index

• type AttrConfig
  • func (config *AttrConfig) Validate(path string) ([]string, error)
• type Gripper
  • func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)
  • func (g *Gripper) IsMoving(ctx context.Context) (bool, error)
  • func (g *Gripper) ModelFrame() referenceframe.Model
  • func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error
  • func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Types

type AttrConfig

type AttrConfig struct {
	Arm string `json:"arm"`
}

AttrConfig is the config for a trossen gripper.

func (*AttrConfig) Validate

func (config *AttrConfig) Validate(path string) ([]string, error)

Validate ensures all parts of the config are valid.

type Gripper

type Gripper struct {
	generic.Unimplemented
	// contains filtered or unexported fields
}

Gripper represents an instance of a Trossen gripper.

func (*Gripper) Grab

func (g *Gripper) Grab(ctx context.Context, extra map[string]interface{}) (bool, error)

Grab closes the gripper by defering to the arm.

func (*Gripper) IsMoving

func (g *Gripper) IsMoving(ctx context.Context) (bool, error)

IsMoving returns whether the gripper is moving.

func (*Gripper) ModelFrame

func (g *Gripper) ModelFrame() referenceframe.Model

ModelFrame is unimplemented for Gripper.

func (*Gripper) Open

func (g *Gripper) Open(ctx context.Context, extra map[string]interface{}) error

Open opens the gripper by defering to the arm.

func (*Gripper) Stop

func (g *Gripper) Stop(ctx context.Context, extra map[string]interface{}) error

Stop is stops the gripper servo on the trossen arm.