Struct Gripper 

pub struct Gripper { /* private fields */ }

One-motor gripper newtype with raw motor commands and optional normalized opening support.

Implementations

impl Gripper

pub fn motor(&self) -> &Motor

The one motor.

pub fn motor_mut(&mut self) -> &mut Motor

The one motor (mutably).

pub fn enable(&mut self) -> Result<(), Error>

Enable the motor.

pub fn disable(&mut self) -> Result<(), Error>

Disable the motor.

pub fn mit_control(&mut self, cmd: MitCmd) -> Result<(), Error>

Single MIT command to the gripper motor.

pub fn pos_vel_control(&mut self, cmd: PosVelCmd) -> Result<(), Error>

Single PosVel command to the gripper motor.

pub fn pos_force_control(&mut self, cmd: PosForceCmd) -> Result<(), Error>

Single PosForce command to the gripper motor.

pub fn refresh(&mut self) -> Result<(), Error>

Send a state-refresh query to the motor (no motion). Pair with tick.

pub fn set_mode(&mut self, mode: CommandKind) -> Result<(), Error>

Set the gripper motor’s persistent control mode (no motion).

pub fn has_opening_control(&self) -> bool

True if this gripper is configured for normalized opening control.

pub fn set_opening( &mut self, opening: f64, current: Option<f64>, ) -> Result<(), Error>

Queue a normalized opening command where 0.0 is closed and 1.0 is open.

pub fn opening(&self) -> Result<f64, Error>

Return the normalized opening from the most recently cached motor feedback.

0.0 is fully closed and 1.0 is fully open. Call Self::refresh followed by crate::Robot::tick before reading when fresh feedback is required. Opening control must be configured and the per-session calibration performed by crate::Robot::enable must have completed. This getter only reads cached state and does not send CAN frames.

pub fn open(&mut self, current: Option<f64>) -> Result<(), Error>

Queue a fully-open command.

pub fn close(&mut self, current: Option<f64>) -> Result<(), Error>

Queue a fully-closed command.

pub fn inner(&self) -> &MotorGroup

Borrow the underlying MotorGroup.

pub fn inner_mut(&mut self) -> &mut MotorGroup

Borrow the underlying MotorGroup mutably.