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

Interface SpeedCapability

public interface SpeedCapability

This interface represents a registered speed capability for a gripper which supports operating using a user configurable speed.

Through this interface, it is possible to adjust the range and default values for the speed 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 minSpeed, double maxSpeed, double defaultGripSpeed, double defaultReleaseSpeed, Speed.Unit unit) Update the range and default values for the speed supported by the gripper.

Method Detail

updateCapability

void updateCapability(double minSpeed,
                      double maxSpeed,
                      double defaultGripSpeed,
                      double defaultReleaseSpeed,
                      Speed.Unit unit)

Update the range and default values for the speed 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.

Parameters:

minSpeed - minimum operating speed supported by the gripper

maxSpeed - maximum operating speed supported by the gripper

defaultGripSpeed - default value for the speed for a grip action. This value is used for, e.g. performing a "default" grip action using the toolbar

defaultReleaseSpeed - default value for the speed for a release action. This value is used for, e.g. performing a "default" release action using the toolbar

unit - the unit for all specified values, not null

Throws:

InvalidCapabilityRange - if minSpeed > maxSpeed

InvalidCapabilityRange - if defaultGripSpeed or defaultReleaseSpeed is outside the range defined by minSpeed and maxSpeed.