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

Interface WidthCapability

public interface WidthCapability

This interface represents a registered width/position capability for a gripper which supports moving to a user configurable position (open/close to a configurable width).

Through this interface, it is possible to adjust the range and default values for the width 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 minWidth, double maxWidth, double defaultGripWidth, double defaultReleaseWidth, Length.Unit unit) Update the range and default values for the width supported by the gripper.

Method Detail

updateCapability

void updateCapability(double minWidth,
                      double maxWidth,
                      double defaultGripWidth,
                      double defaultReleaseWidth,
                      Length.Unit unit)

Update the range and default values for the width 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:

minWidth - minimum width supported by the gripper

maxWidth - maximum width supported by the gripper

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

defaultReleaseWidth - default value for the width 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 minWidth > maxWidth

InvalidCapabilityRange - if defaultGripWidth or defaultReleaseWidth is outside the range defined by minWidth and maxWidth.