Pioneer Module Mobile manual Gripper & Experimenter’s Module

Page 27

Gripper & Experimenter’s Module

case sfRIGHT:

which = sfRIGHTLEDBIT;

break;

default:

which = 0;

}

switch(state)

{

case sfOFF:

sfRobotCom2Bytes(sfCOMDIGOUT, which, 0);

break;

case sfON:

sfRobotCom2Bytes(sfCOMDIGOUT, which, which);

break;

}

}

23

Image 27

Contents Gripper Experimenter’s Module Manual Gripper & Experimenter’s Module Contents Maintenance & Repair User Supplied Components IntroductionGripper and Experimenter’s Package Package ComponentsBasic Pioneer Platform Gripper & Experimenter’s ModuleGripper Description Pioneer Gripper side view Pioneer 1 Experimenter’s Module Experimenter’s Module DescriptionAdditional Resources Pioneer Web Software ArchivePioneer and Saphira Newsgroups Pioneer-support@rwii.com SupportInstallation Remove the ConsoleRemove Microcontroller from Console Replace InstallationAttach Gripper/Experimenter’s Module to Pioneer Reattach Microcontroller to ConsoleRemove Nose Connect CablesTest the Assembly Re-Attach the Console CablesRe-Attach the Console Gripper Operation and Programming Gripper Self TestPsos Server Information Packet Gripper I/O Gripper ProgrammingDirect Control via Digital Ports Int sfGripperGetState void SfRobotCom2BytessfCOMDIGOUT, 0x20SfRobotCom2BytessfCOMDIGOUT, 0x3 SfRobotCom2BytessfCOMDIGOUT, 0x2Gripper functions I/O Ports Experimenter’s ModuleExperimenter’s Module To skip Vv.vV BREAK, Boot to r EturnDigin Self-Test DiginProgramming the Digital I/O Ports Programming the A/D PortsProgramming the Speaker Factory Repairs Maintenance & RepairGripper Belt Adjustments Drive LubricationExample C Program Demonstrates Gripper and Speaker Functions Appendix aGripper & Experimenter’s Module Momentary switch, 0 is pressed Gripper & Experimenter’s Module Pioneer Server Information Packet Appendix BComsay IndexMore, Grinnell Gripper & Experimenter’s Module Warranty & Liabilities