public async static Task WsgHoming(
[InputPin(PropertyMode = PropertyMode.Default, DefaultValue = DEFAULT_WSG_NAME)] string gripperName,
CancellationToken cancel = default(CancellationToken))
{
var actionName = $"{DEFAULT_WSG_BASE_NAME}/{gripperName}/{DEFAULT_WSG_ACTION_NAME}";
var result = await MotionService.WsgGripperCommand(actionName, WsgCommand.Homing, 0, 0, 0, true, cancel);
}
public async static Task <Tuple <double, double, bool, bool, string> > WsgRelease(
[InputPin(PropertyMode = PropertyMode.Default, DefaultValue = DEFAULT_WSG_NAME)] string gripperName,
[InputPin(PropertyMode = PropertyMode.Default, DefaultValue = "0.05")] double openWidth,
[InputPin(PropertyMode = PropertyMode.Default)] double speed = 0.15,
CancellationToken cancel = default(CancellationToken))
{
var actionName = $"{DEFAULT_WSG_BASE_NAME}/{gripperName}/{DEFAULT_WSG_ACTION_NAME}";
var result = await MotionService.WsgGripperCommand(actionName, WsgCommand.Release, openWidth, speed, 0, true, cancel);
var stalled = result.State == (int)WsgState.Error;
var reachedGoal = result.State == (int)WsgState.Idle;
return(Tuple.Create(result.Width, result.Force, stalled, reachedGoal, result.Status));
}
