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gripper_behaviour
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gripper_behaviour
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Switch off power
Switch on power
Reactivate gripper
Put gripper in individual mode (rICF = 1 && rICS = 1)
------------------- Behaviour 1 ---------------------
-- command for fingerA always same as for fingers B&C
-- command for fingers is 230 and NOT 255
----------------------------------------------------
Open gripper: SetFingersPosition(0,0,0)
Open scissor: SetScissorPosition(0)
Close gripper: SetFingersPosition(230,230,230)
Close scissor: SetScissorPosition(255) --> scissors close partly
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 141 --> inconsistent: "At requested Pos" while clearly actPos != reqPos
Open gripper: SetFingersPosition(0,0,0)
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 212 --> scissors DO continue closing while opening the gripper
------------------- Behaviour 2 ---------------------
-- Difference: command for fingerA is always: 128
-- command for fingers is 230 and NOT 255
----------------------------------------------------
Open gripper: SetFingersPosition(128,0,0)
Open scissor: SetScissorPosition(0)
Close gripper: SetFingersPosition(128,230,230)
Close scissor: SetScissorPosition(255) --> scissors close partly
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 141 --> inconsistent: "At requested Pos" while clearly actPos != reqPos
Open gripper: SetFingersPosition(128,0,0)
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 141 --> scissors do NOT continue closing while opening the gripper
Apperently, the scissors cannot be closed in this configuration. Only after commanding Finger A to open as well, the scissors close completely.
------------------- Behaviour 3 ---------------------
-- command for fingerA always same as for fingers B&C
-- command for fingers is 230 and NOT 255
----------------------------------------------------
Open gripper: SetFingersPosition(0,0,0)
Open scissor: SetScissorPosition(0)
Close gripper: SetFingersPosition(255,255,255)
Status of all Fingers: gDT = 11 while gPRS = 255 and gPOS = 240 --> strongly clamping on the gripper housing
Close scissor: SetScissorPosition(255) --> scissors do not move at all
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 15 --> inconsistent: "At requested Pos" while clearly actPos != reqPos
Open gripper: SetFingersPosition(0,0,0)
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 212 --> scissors start closing while opening the gripper
------------------- Behaviour 4 ---------------------
-- Difference: command for fingerA is always: 128
-- command for fingers is 230 and NOT 255
----------------------------------------------------
Open gripper: SetFingersPosition(0,0,0)
Open scissor: SetScissorPosition(0)
Close gripper: SetFingersPosition(128,255,255)
Status of all Fingers: gDT = 11 while gPRS = 255 and gPOS = 240 --> strongly clamping on the gripper housing
Close scissor: SetScissorPosition(255) --> scissors do not move at all
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 15 --> inconsistent: "At requested Pos" while clearly actPos != reqPos
Open gripper: SetFingersPosition(128,0,0)
Status of Scissor: gDTS = 11 while gPRS = 255 and gPOS = 141 --> scissors start closing while opening the gripper but only up to half of the range of motion
Apperently, the scissors cannot be closed in this configuration. Only after commanding Finger A to open as well, the scissors close completely.