Struct CuGripperParams 

pub struct CuGripperParams {
    pub close_output: Option<usize>,
    pub open_output: Option<usize>,
    pub closed_input: Option<usize>,
    pub open_input: Option<usize>,
    pub settle: Time,
    pub motion_timeout: Time,
}

Parameters of a gripper wired to digital IO; this is the gripper task’s node config: block.

close_output is required. open_output is set for double-acting actuators (two valves or an explicit open line); otherwise opening means releasing close_output. Without a sensor for the target position the motion counts as done after settle; with one it must assert within motion_timeout. Indices count from 0 and must address the task’s IN inputs / OUT outputs.

RON (times in seconds):

config: {
    "close_output": 0,
    "open_output": 1,      // optional
    "closed_input": 0,     // optional
    "open_input": 1,       // optional
    "settle": 0.3,         // default 0.3 s
    "motion_timeout": 2.0, // default 2 s
}

use repose_io::{CuGripperParams, CuGripperTask};
use cu29::units::si::f64::Time;
use cu29::units::si::time::second;

let params = CuGripperParams {
    open_output: Some(1),
    motion_timeout: Time::new::<second>(1.0),
    ..CuGripperParams::single_acting(0)
};
let task = CuGripperTask::<2, 2>::from_params(params).unwrap();

Fields

close_output: Option<usize>

Output that closes the gripper (required).

open_output: Option<usize>

Output that opens the gripper (double-acting actuators).

closed_input: Option<usize>

Input asserted when the gripper is closed.

open_input: Option<usize>

Input asserted when the gripper is open.

settle: Time

Time after which a motion without a target sensor counts as done.

motion_timeout: Time

Time within which a target sensor must assert.

Implementations

impl CuGripperParams

pub fn single_acting(close_output: usize) -> Self

Params with only a close output and default timings (0.3 s settle, 2 s sensor timeout).

pub fn validate<const IN: usize, const OUT: usize>(&self) -> CuResult<()>

Checks that close_output is set, indices fit IN inputs / OUT outputs and are not shared, and timings are positive.

Trait Implementations

impl Clone for CuGripperParams

fn clone(&self) -> CuGripperParams

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Copy for CuGripperParams

impl Debug for CuGripperParams

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for CuGripperParams

fn default() -> Self

No close output (rejected by validate), 0.3 s settle, 2 s sensor timeout.

impl<'de> Deserialize<'de> for CuGripperParams

where CuGripperParams: Default,

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl PartialEq for CuGripperParams

fn eq(&self, other: &CuGripperParams) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuGripperParams

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuGripperParams

impl TypePath for CuGripperParams

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>