@Override public boolean checkCondition() { return handDesiredConfiguration.getEnumValue().equals(HandConfiguration.HOOK); } };
private void sendCommand(Register[] request) { if(DEBUG) { System.out.println("Write:"); printRegisters(request); } try { communicator.writeMultipleRegisters(0, request); } catch (ModbusException | SocketTimeoutException e) { System.err.println(getClass().getSimpleName() + ": Failed to write " + graspMode.name() + " " + handConfiguration.name() + " command. Consider resetting hand."); } }
final JComboBox<HandConfiguration> stateToSend = new JComboBox<HandConfiguration>(HandConfiguration.values()); stateToSend.setSelectedItem(HandConfiguration.CALIBRATE);
public static final void convertHandDesiredConfigurationMessage(HandDesiredConfigurationMessage handDesiredConfigurationMessage, ValkyrieHandFingerTrajectoryMessage messageToPack) { messageToPack.setRobotSide(handDesiredConfigurationMessage.getRobotSide()); HandConfiguration desiredHandConfiguration = HandConfiguration.fromByte(handDesiredConfigurationMessage.getDesiredHandConfiguration()); convertHandConfiguration(desiredHandConfiguration, messageToPack); }
/** * Creates a message with the desired grasp to be performed. Set the id of the message to * {@link Packet#VALID_MESSAGE_DEFAULT_ID}. * * @param robotSide refers to which hand will perform the grasp. * @param handDesiredConfiguration refers to the desired grasp. */ public static HandDesiredConfigurationMessage createHandDesiredConfigurationMessage(RobotSide robotSide, HandConfiguration handDesiredConfiguration) { HandDesiredConfigurationMessage message = new HandDesiredConfigurationMessage(); message.setRobotSide(robotSide.toByte()); message.setDesiredHandConfiguration(handDesiredConfiguration.toByte()); return message; }
public byte toByte() { return (byte) ordinal(); }
@Override public String toString() { return robotSide.toString() + " State= " + handDesiredConfiguration.toString(); }
private void checkForNewHandDesiredConfigurationRequested() { for (RobotSide robotSide : RobotSide.values) { if (handDesiredConfigurationMessageSubscribers.get(robotSide).isNewDesiredConfigurationAvailable()) { HandConfiguration handDesiredConfiguration = HandConfiguration.fromByte(handDesiredConfigurationMessageSubscribers.get(robotSide).pollMessage() .getDesiredHandConfiguration()); ValkyrieFingerSetController controller = fingerSetControllers.get(robotSide); if (controller == null) continue; controller.getDesiredHandConfiguration(handDesiredConfiguration); } } }
public static HandDesiredConfigurationMessage nextHandDesiredConfigurationMessage(Random random) { HandDesiredConfigurationMessage next = new HandDesiredConfigurationMessage(); next.setRobotSide(RandomNumbers.nextEnum(random, RobotSide.class).toByte()); next.setDesiredHandConfiguration(RandomNumbers.nextEnum(random, HandConfiguration.class).toByte()); return next; }
@Override public boolean checkCondition() { return desiredGraspMode.getEnumValue().equals(RobotiqGraspMode.WIDE_MODE) && handDesiredConfiguration.getEnumValue().equals(HandConfiguration.OPEN_THUMB); } };
HandConfiguration state = HandConfiguration.fromByte(packet.getDesiredHandConfiguration());
private void sendCommand(Register[] request) { if(DEBUG) { System.out.println("Write:"); printRegisters(request); } try { communicator.writeMultipleRegisters(0, request); } catch (ModbusException | SocketTimeoutException e) { System.err.println(getClass().getSimpleName() + ": Failed to write " + graspMode.name() + " " + handConfiguration.name() + " command. Consider resetting hand."); } }
final JComboBox<HandConfiguration> stateToSend = new JComboBox<HandConfiguration>(HandConfiguration.values()); stateToSend.setSelectedItem(HandConfiguration.CALIBRATE);
@Override public boolean checkCondition() { return desiredGraspMode.getEnumValue().equals(RobotiqGraspMode.BASIC_MODE) && handDesiredConfiguration.getEnumValue().equals(HandConfiguration.OPEN); } };
HandConfiguration handDesiredConfiguration = HandConfiguration.fromByte(handDesiredConfigurationSubscriber.pollMessage() .getDesiredHandConfiguration());
@Override public boolean checkCondition() { return desiredGraspMode.getEnumValue().equals(RobotiqGraspMode.BASIC_MODE) && handDesiredConfiguration.getEnumValue().equals(HandConfiguration.CLOSE_THUMB); } };
HandConfiguration desiredHandConfiguration = HandConfiguration.fromByte(handDesiredConfigurationMessageSubscribers.get(robotSide).pollMessage() .getDesiredHandConfiguration()); handJointFingerSetControllers.get(robotSide).clearTrajectories();
@Override public boolean checkCondition() { return desiredGraspMode.getEnumValue().equals(RobotiqGraspMode.PINCH_MODE) && handDesiredConfiguration.getEnumValue().equals(HandConfiguration.OPEN); } };
public static void convertHandDesiredConfigurationMessage(HandDesiredConfigurationMessage ihmcMessage, HandleControl message) switch (HandConfiguration.fromByte(ihmcMessage.getDesiredHandConfiguration()))
@Override public boolean checkCondition() { return desiredGraspMode.getEnumValue().equals(RobotiqGraspMode.PINCH_MODE) && handDesiredConfiguration.getEnumValue().equals(HandConfiguration.OPEN_FINGERS); } };