vgripper

Documentation

Overview

Package vgripper implements versions of the Viam gripper. This is an Experimental package

Index

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

Constants

const (
	TargetRPM               = 200
	MaxCurrent              = 700
	CurrentBadReadingCounts = 50
	MinRotationGap          = 4.0
	MaxRotationGap          = 5.0
	OpenPosOffset           = 0.4 // Reduce maximum opening width, keeps out of mechanical binding region
	ClosePosOffset          = 0.1 // Prevent false "grabs"
)

TODO.

const (
	Command           = "command"
	GetPressure       = "get_pressure"
	GetCurrent        = "get_current"
	Home              = "home"
	ReturnCurrent     = "current"
	ReturnPressure    = "pressure"
	ReturnHasPressure = "has_pressure"
)

Do() related constants.

Types

type AttrConfig

type AttrConfig struct {
	Board         string `json:"board"`
	PressureLimit int    `json:"pressure_limit"`
}

AttrConfig is the config for a viam gripper.

func (*AttrConfig) Validate

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

Validate ensures all parts of the config are valid.