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

Interface GripActionParameters

public interface GripActionParameters

This interface represents parameters for a gripping action defined/configured by the end user.

These parameters are used when generating script code for a gripping action (see GripperContribution.generateGripActionScript(ScriptWriter, GripActionParameters)).

Method Summary

Modifier and Type	Method and Description
Force	getForce()
Speed	getSpeed()
Pressure	getVacuum()
Length	getWidth()

Method Detail

getForce

Force getForce()

Returns:

The force to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the force capability

getWidth

Length getWidth()

Returns:

The width to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the width capability

getVacuum

Pressure getVacuum()

Returns:

The vacuum to use for the gripping action

Throws:

UnsupportedOperationException - if the gripper has not registered the vacuum capability

getSpeed

Speed getSpeed()

Returns:

The speed to use for the gripper action

Throws:

UnsupportedOperationException - if the gripper has not registered the speed capability