com.ur.urcap.api.contribution.driver.gripper.capability

Interface GripVacuumCapability

public interface GripVacuumCapability

This interface represents a registered vacuum capability for a gripper which supports gripping using a user configurable vacuum level.

Through this interface, it is possible to adjust the range and default value for the vacuum level after the capability has been registered. This is typically not applicable for most grippers, but can be relevant when the range depends on another custom gripper setting (which can be configured by the user).

Method Summary

Modifier and Type	Method and Description
void	updateCapability(double minVacuum, double maxVacuum, double defaultGripVacuum, Pressure.Unit unit) Update the range and default value for the vacuum level supported by the gripper.

Method Detail

updateCapability

void updateCapability(double minVacuum,
                      double maxVacuum,
                      double defaultGripVacuum,
                      Pressure.Unit unit)

Update the range and default value for the vacuum level supported by the gripper.

Updating the range could result in an already entered value in the configuration of a gripper program node being outside the range. This will make the given program node undefined, and force the end user to adjust the value to be valid again.

If the gripper works with absolute pressure, specify a positive range for the supported vacuum level. If the gripper works with relative pressure (vacuum), specify a negative range for the supported vacuum level.

Parameters:

minVacuum - minimum vacuum level supported by the gripper

maxVacuum - maximum vacuum level supported by the gripper

defaultGripVacuum - default value for the vacuum level for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

unit - the unit for all specified values, not null

Throws:

InvalidCapabilityRange - if minVacuum > maxVacuum or defaultGripVacuum is outside the range defined by minVacuum and maxVacuum.