Solly Brown wrote:
> * contact sensors on the paddles
> [ I've put in a little slider joint on each of the paddles to mimic the
> contact sensor on the pioneer gripper. I haven't checked the official
> dimensions though, so the exact numbers probably aren't right. ]
> * breakbeams
> [ Again, I haven't had a chance to check the exact positioning.]
I can try to find the CAD drawings if you want exact dimensions; let me know.
> The things that are still missing are....
> * contact sensor state
> [ I haven't added a left/right_paddle_gripping state yet because I'm not
> sure whether the Pioneers actually return that piece of info from the
> contact sensors. I think it's possible to get that information, but the
> current Player implementation doesn't seem to have it.]
Yes, you can get the state of the contact switches on the gripper either in the
"DIGIN" field in the standard P2OS/AROS/ARCOS packet (those switches are
connected to pins 4 and 5, I think), or you can request a gripper packet be
sent, which contains bits for them (theoretically, that one is better, since the
meaning of the data in that packet would be retained even if the
gripper-microcontroller connection was revised, though it's very unlikely that
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