trossen

Documentation

Overview

Package trossen implements a trossen gripper.

Index

• type AttrConfig
  • func (config *AttrConfig) Validate(path string) error
• type Gripper
  • func (g *Gripper) Close() error
  • func (g *Gripper) GetMoveLock() *sync.Mutex
  • 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 {
	SerialPath string `json:"serial_path"`
	BaudRate   int    `json:"serial_baud_rate"`
}

AttrConfig is the config for a trossen gripper.

func (*AttrConfig) Validate

func (config *AttrConfig) Validate(path string) error

Validate ensures all parts of the config are valid.

type Gripper

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

Gripper TODO.

func (*Gripper) Close

func (g *Gripper) Close() error

Close closes the connection, not the gripper.

func (*Gripper) GetMoveLock

func (g *Gripper) GetMoveLock() *sync.Mutex

GetMoveLock TODO.

func (*Gripper) Grab

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

Grab TODO.

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 TODO.

func (*Gripper) Stop

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

Stop is unimplemented for Gripper.