API

enum schunk_svh::SVHChannel

Enum mapping fingers to their index.

Values:

enumerator SVH_ALL

enumerator SVH_THUMB_FLEXION

enumerator SVH_THUMB_OPPOSITION

enumerator SVH_INDEX_FINGER_DISTAL

enumerator SVH_INDEX_FINGER_PROXIMAL

enumerator SVH_MIDDLE_FINGER_DISTAL

enumerator SVH_MIDDLE_FINGER_PROXIMAL

enumerator SVH_RING_FINGER

enumerator SVH_PINKY

enumerator SVH_FINGER_SPREAD

enumerator SVH_DIMENSION

class SchunkSVH

Schunk SVH API.

Public Functions

SchunkSVH(): Construct a new Schunk SVH object.

virtual ~SchunkSVH(): Destroy the Schunk SVH object and stop motion.

void connect(const std::string &port, const std::string &finger_order = "", int priority = 0)

Connect to the Schunk SVH, reset each finger, home its position, and start the control thread in the background.

Parameters:

port – Serial port on which the robot is connected
finger_order – Order in which to initialise the fingers as a string containing the finger indices. Default order is “012345678”
priority – Thread priority for the control thread (default 0, set to a positive value for real-time scheduling on Linux)

bool read(std::vector<double> &position, std::vector<double> &velocity, std::vector<double> &effort, int timeout = 500)

Read joint state from the robot.

Parameters:

position – Returns joint position in rad (will resize the vector)
velocity – Returns joint velocity in rad/s (will resize the vector)
effort – Returns joint current in A (will resize the vector)
timeout – Timeout in ms for waiting for the read operation (default 500, set 0 for non-blocking read)

Returns:

true If read operation completed before timeout or if timeout=0

Returns:

false If failed to read within the allocated time

void write(const std::vector<double> &position)

Write joint commands to the robot.

Parameters:: position – Vector of 9 joint position commands in rad in the order defined in the SVHChannel enum

bool get_last_command(std::vector<double> &position)

Get the last position command.

Parameters:: position – Returns last command set to the robot (returns the measured position after startup)
Returns:: true If last command is available (should always return this if connect() was successful)
Returns:: false If last command is not available

std::string get_info()

Get the firmware info.

Returns:: std::string Returns the firmware info and position/current/encoder settings for each finger

double get_position_min(SVHChannel channel)

Get joint lower position limit.

Parameters:: channel – Joint index
Returns:: double Returns joint limit in radians

double get_position_max(SVHChannel channel)

Get joint upper position limit.

Parameters:: channel – Joint index
Returns:: double Returns joint limit in radians

double get_position_home(SVHChannel channel)

Get joint home position.

Parameters:: channel – Joint index
Returns:: double Joint home position

void set_position_settings(SVHChannel channel, const std::vector<double> &settings)

Set the position settings for a joint (incorrect settings can break the robot, consult the manual)

Parameters:

channel – Joint index
settings – Vector of joint position settings to update (wmn, wmx, dwmx, ky, dt, imn, imx, kp, ki, kd)

void set_current_settings(SVHChannel channel, const std::vector<double> &settings)

Set the current settings for a joint (incorrect settings can break the robot, consult the manual)

Parameters:

channel – Joint index
settings – Vector of joint position settings to update (wmn, wmx, ky, dt, imn, imx, kp, ki, umn, umx)