SET HANDPOS(3)

NAME
SET_HANDPOS, SET_HANDFORCE -- RCI CHG macros to control the robot hand.

USAGE
#include <rci.h>

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

SET_HANDFORCE(rbt, force)
   RCI_RBT *rbt;
   int force;

ARGUMENTS

rbt --
    Pointer to RCI robot structure.

pos --
    Hand position.

force --
    Hand force.

DESCRIPTION
These macros may be called from any part of an RCI program. Their effect is largely robot dependent.

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.

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.

SEE ALSO
CHG(3), HOW(3).