\input manualMacros.tex
\manBegin
\manPageInfo{RCI Reference Manual}{}{}
\manTitle{SET HANDPOS}{3}
\manSection{NAME}
{\tt \manName{SET_HANDPOS}},
{\tt \manName{SET_HANDFORCE}}
-- RCI {\it CHG} macros to control the robot hand.
\manSection{USAGE}
\cverbatim
#include <rci.h>

SET_HANDPOS(rbt, pos)
   RCI_RBT *rbt;
   int pos;

SET_HANDFORCE(rbt, force)
   RCI_RBT *rbt;
   int force;@endcverbatim
\manSection{ARGUMENTS}
\manItem{{\tt rbt} --}
Pointer to RCI robot structure.
\manItem{{\tt pos} --}
Hand position.
\manItem{{\tt force} --}
Hand force.
\manSection{DESCRIPTION}
These macros may be called from any part of an RCI program.
Their effect is largely robot dependent.

{\tt SET_HANDPOS()} sets the robot hand to the indicated position. Often,
this is implemented so that a zero value closes the hand, and a non-zero value
opens it. 

{\tt SET_HANDFORCE()} sets the force exerted by the robot hand. This
command is often unimplemented, since it is beyond the capability
of many grippers.

Each command overrides the other if specified during the same control cycle.
\manSection{SEE ALSO}
\raggedright
{\tt CHG(3)}, {\tt HOW(3)}.
\manEnd
\end
