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

Interface ReleaseActionParameters

@ProviderType
public interface ReleaseActionParameters

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

These parameters are used when generating script code for a release action (see GripperContribution.generateReleaseActionScript(ScriptWriter, ReleaseActionParameters)).

Since:

1.8.0

Method Summary

Modifier and Type	Method and Description
SelectableGripper	getGripperSelection() Get the gripper selected by the end user for the release action.
Speed	getSpeed() Get the selected speed to be used for releasing the gripper.
Length	getWidth() Get the selected width to be used for releasing the gripper.
boolean	isReleaseDetectionEnabled() Use this method to determine whether the release detection option in the Gripper program node is on or off.

Method Detail

getWidth

Length getWidth()

Get the selected width to be used for releasing the gripper.

This is only valid, if the width capability has been registered (using the method GripperCapabilities.registerWidthCapability(double, double, double, double, Length.Unit)).

Returns:

The width to use for the release action

Throws:

UnsupportedOperationException - if the gripper has not registered the width capability

getSpeed

Speed getSpeed()

Get the selected speed to be used for releasing the gripper.

This is only valid, if the speed capability has been registered (using the method GripperCapabilities.registerSpeedCapability(double, double, double, double, Speed.Unit)).

Returns:

The speed to use for the release action

Throws:

UnsupportedOperationException - if the gripper has not registered the speed capability

getGripperSelection

SelectableGripper getGripperSelection()

Get the gripper selected by the end user for the release action.

This is only valid if the contribution has registered the multi-gripper capability (see GripperCapabilities.registerMultiGripperCapability(GripperListProvider)).

Returns:

the selected gripper to use for the release action

Throws:

UnsupportedOperationException - if the gripper contribution is not a multi-gripper

Since:

1.11.0

isReleaseDetectionEnabled

boolean isReleaseDetectionEnabled()

Use this method to determine whether the release detection option in the Gripper program node is on or off.

Note that this method will report that release detection is off, when script code is to be generated due to the user testing a release configuration of a gripper program or operating the gripper using the toolbar.

This method should only be called, if the release detected feedback capability has been registered (using GripperFeedbackCapabilities.registerReleaseDetectedCapability(ScriptCodeGenerator)).

The purpose of this method is to ensure that the appropriate script code for performing a release action is generated when the end user has specified a new payload value. The user-defined payload value will be applied by PolyScope immediately after the generated release action script code has finished executing. Depending on the enablement state of release detection, the generated script should have the following properties:

• Release detection off: The script code should not finish earlier than when it is appropriate to apply the new payload value (i.e. when the object has been released). This typically means that the script code should wait a time period corresponding to opening the gripper's "fingers" fully (if the gripper is vacuum operated then long enough to achieve some level of vacuum).
• Release detection on: The payload will only be set if the release detection was successful, i.e. it will be applied immediately after a release was detected. This means that it is not necessary for the script code to wait (since the built-in detection timeout functionality will handle the waiting part).

Returns:

true if the end user has enabled release detection, and false if release detection is disabled.

Throws:

UnsupportedOperationException - if the gripper has not registered the release detected feedback capability

Since:

1.10.0