This page describes the C++ GripperCyclic API.
This section describes the existing RPCs used in this API.
Service to exchange cyclic data with gripper
GripperCyclicClient RPCs
| Function name | Return type | Input type | Description |
|---|---|---|---|
| Refresh | Feedback | Command | Sends a command to the gripper and receives feedback about the actual status of the gripper |
| RefreshCommand | Empty | Command | Sends a command to the gripper without receiving feedback |
| RefreshFeedback | Feedback | MessageId | Obtains feedback from the gripper on its status |
| RefreshCustomData | CustomData | MessageId | Obtains custom data from the gripper |
This section describes the data classes used in this API.
Messages
| Class | Description |
|---|---|
| Command | Command sent to a gripper |
| CustomData | Custom data from gripper and gripper motors |
| CustomDataUnit | Custom data |
| Feedback | Status feedback from a gripper |
| MessageId | Message identifier for command or feedback |
| MotorCommand | Command to a single gripper motor |
| MotorFeedback | Status feedback from a single gripper motor |
Enumerators
| Enumerator | Description |
|---|---|
| ServiceVersion |