45 lines
1.0 KiB
C++
45 lines
1.0 KiB
C++
#pragma once
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#include <stdint.h>
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#include "device/motor_rm.h"
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namespace arm {
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enum class GripperState : uint8_t {
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OPENING = 0,
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OPEN_HOLD,
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CLOSING,
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PRELOAD,
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CLOSE_HOLD,
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FAULT,
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};
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// 调试变量与可调参数，保留为全局便于Watch实时观察/修改。
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extern GripperState gripper_state_dbg;
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extern bool gripper_target_close;
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extern float gripper_output_dbg;
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// 夹爪输出（MOTOR_RM_SetOutput 归一化范围：[-1, 1]）
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extern float gripper_out_open;
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extern float gripper_out_close_fast;
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extern float gripper_out_preload;
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extern float gripper_out_hold;
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extern float gripper_out_boost;
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// 接触/防滑判据
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extern float gripper_contact_current_th;
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extern float gripper_contact_speed_th;
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extern float gripper_slip_speed_th;
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extern uint16_t gripper_contact_debounce_ms;
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extern uint16_t gripper_preload_ms;
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extern uint16_t gripper_boost_ms;
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extern uint16_t gripper_open_timeout_ms;
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extern uint16_t gripper_close_timeout_ms;
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int8_t Gripper_Init(const MOTOR_RM_Param_t& param);
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void Gripper_Step(bool target_close);
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} // namespace arm
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