SDHLibrary-CPP 0.0.2.10SCHUNK GmbH & Co. KG
C++ access library for SCHUNK Dextrous Hand SDH

sdh/sdh_command_codes.h File Reference

This file contains the binary command codes of the SDH. To use this from a non gcc compiler you might have to define SDH__attribute__ to nothing and SDH_USE_VCC to 1. More...

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Defines

#define USE_CMD_TEST   0
#define SDH__attribute__(...)   __attribute__(__VA_ARGS__)
#define SDH_USE_VCC   0

Typedefs

typedef enum eCommandCodeEnum eCommandCode
 typedef for eCommandCodeEnum, see there

Enumerations

enum  eCommandCodeEnum

Functions

enum eCommandCodeEnum __attribute__ ((packed))

Variables

 CMDC_V = 128
 CMDC_VEL
 CMDC_RVEL
 CMDC_POS
 CMDC_STATE
 CMDC_P
 CMDC_A
 CMDC_M
 CMDC_STOP
 CMDC_VP
 CMDC_CON
 CMDC_TPAP
 CMDC_TVAV
 CMDC_VLIM
 CMDC_ALIM
 CMDC_POS_SAVE
 CMDC_REF
 CMDC_TEMP
 CMDC_ID
 CMDC_SN
 CMDC_VER
 CMDC_VER_DATE
 CMDC_SOC
 CMDC_SOC_DATE
 CMDC_NUMAXIS
 CMDC_P_MIN
 CMDC_P_MAX
 CMDC_P_OFFSET
 CMDC_GET_DURATION
 CMDC_IGRIP
 CMDC_IHOLD
 CMDC_SELGRIP
 CMDC_GRIP
 CMDC_PID
 CMDC_KV
 CMDC_ILIM
 CMDC_POWER
 CMDC_DEMO
 CMDC_USER_ERRORS
 CMDC_TERMINAL
 CMDC_DEBUG
 CMDC_USE_FIXED_LENGTH
 CMDC_CHANGE_RS232
 CMDC_CHANGE_CHANNEL

Detailed Description

This file contains the binary command codes of the SDH. To use this from a non gcc compiler you might have to define SDH__attribute__ to nothing and SDH_USE_VCC to 1.

General file information

Author:
Ilshat Mamaev, Dirk Osswald
Date:
2011-02-01

Copyright

  • Copyright (c) 2003 IPR, University of Karlsruhe (TH), all rights reserved
  • Copyright (c) 2008 SCHUNK GmbH & Co. KG


Define Documentation

#define SDH__attribute__ (   ...)    __attribute__(__VA_ARGS__)
#define SDH_USE_VCC   0
#define USE_CMD_TEST   0

Typedef Documentation

typedef for eCommandCodeEnum, see there


Enumeration Type Documentation

Packed (1 Byte) enum with binary command codes used to indicate the command sent in the binary communiation request or response.

Remarks:
  • Not all commands are implemented as binary commands
  • To make this definition work with both C (nios-gcc) and C++ (std gcc/VCC) we have to separate the enum definition from the typedef.
  • You may use the corresponding typedef eCommandCode

Function Documentation

enum eCommandCodeEnum __attribute__ ( (packed)  )

Variable Documentation

CMDC_V = 128