class MotorFeedback

Member values

Member name	Data type	Description
motor_id	uint32	Motor ID (1, nb_motor)
position	float32	Position of the gripper fingers in percentage (0-100%)
velocity	float32	Velocity of the gripper fingers in percentage (0-100%)
current_motor	float32	Current comsumed by the gripper motor (mA)
voltage	float32	Motor Voltage (V)
temperature_motor	float32	Motor temperature. (degrees Celsius)

Member functions

Function name	Return type	Input type	Description
motor_id()	uint32	void	Returns the current value of motor_id. If the motor_id is not set, returns 0.
set_motor_id()	void	uint32	Sets the value of motor_id. After calling this, motor_id() will return value.
clear_motor_id()	void	void	Clears the value of motor_id. After calling this, motor_id() will return 0.
position()	float32	void	Returns the current value of position. If the position is not set, returns 0.
set_position()	void	float32	Sets the value of position. After calling this, position() will return value.
clear_position()	void	void	Clears the value of position. After calling this, position() will return 0.
velocity()	float32	void	Returns the current value of velocity. If the velocity is not set, returns 0.
set_velocity()	void	float32	Sets the value of velocity. After calling this, velocity() will return value.
clear_velocity()	void	void	Clears the value of velocity. After calling this, velocity() will return 0.
current_motor()	float32	void	Returns the current value of current_motor. If the current_motor is not set, returns 0.
set_current_motor()	void	float32	Sets the value of current_motor. After calling this, current_motor() will return value.
clear_current_motor()	void	void	Clears the value of current_motor. After calling this, current_motor() will return 0.
voltage()	float32	void	Returns the current value of voltage. If the voltage is not set, returns 0.
set_voltage()	void	float32	Sets the value of voltage. After calling this, voltage() will return value.
clear_voltage()	void	void	Clears the value of voltage. After calling this, voltage() will return 0.
temperature_motor()	float32	void	Returns the current value of temperature_motor. If the temperature_motor is not set, returns 0.
set_temperature_motor()	void	float32	Sets the value of temperature_motor. After calling this, temperature_motor() will return value.
clear_temperature_motor()	void	void	Clears the value of temperature_motor. After calling this, temperature_motor() will return 0.

Parent topic: GripperCyclic (C++)