public override void setf_command(double command)
{
if (command < 0 || command > 100)
{
throw new ArgumentException("Command must be between 0 and 100");
}
uint cmd_seqno;
lock (this)
{
cmd_seqno = ++_ros_cmd_seqno;
}
var cmd1 = new EndEffectorCommand();
cmd1.sequence = cmd_seqno;
cmd1.id = _tool_id;
cmd1.command = "go";
cmd1.args = "{\"position\": " + command + "}";
_gripper_command_pub.publish(cmd1);
lock (this)
{
_command = command;
}
}
public override void home()
{
uint cmd_seqno;
lock (this)
{
cmd_seqno = ++_ros_cmd_seqno;
}
var cmd1 = new EndEffectorCommand();
cmd1.sequence = cmd_seqno;
cmd1.command = "clear_calibration";
cmd1.id = _tool_id;
_gripper_command_pub.publish(cmd1);
Thread.Sleep(1000);
lock (this)
{
cmd_seqno = ++_ros_cmd_seqno;
}
var cmd2 = new EndEffectorCommand();
cmd2.sequence = cmd_seqno;
cmd2.command = "calibrate";
cmd2.id = _tool_id;
_gripper_command_pub.publish(cmd2);
lock (this)
{
_command = 0;
}
}
public override void halt()
{
uint cmd_seqno;
lock (this)
{
cmd_seqno = ++_ros_cmd_seqno;
}
var cmd1 = new EndEffectorCommand();
cmd1.sequence = cmd_seqno;
cmd1.command = "halt";
cmd1.id = _tool_id;
_gripper_command_pub.publish(cmd1);
}
