Kinova API Documentation
Finger Struct Reference

Structure that represents a finger from the end effector's tool. More...

List of all members.

Public Attributes

char ID [STRING_LENGTH]
 ID of the finger.
float ActualCommand
 Actual command of the finger.
float ActualSpeed
 Actual velocity of the finger.
float ActualForce
 Actual force of the finger.
float ActualAcceleration
 Actual acceleration of the finger.
float ActualCurrent
 Actual current of the finger.
float ActualPosition
 Actual position of the finger.
float ActualAverageCurrent
 Not used for now.
float ActualTemperature
 Actual temperature of the finger.
int CommunicationErrors
 Not used for now.
int OscillatorTuningValue
 Not used for now.
float CycleCount
 Not used for now.
float RunTime
 Not used for now.
float PeakMaxTemp
 Not used for now.
float PeakMinTemp
 Not used for now.
float PeakCurrent
 Not used for now.
float MaxSpeed
 This is the max velocity of the finger.
float MaxForce
 This is the max force of the finger.
float MaxAcceleration
 This is the max acceleration of the finger.
float MaxCurrent
 This is the max current of the finger.
float MaxAngle
 This is the max position of the finger.
float MinAngle
 This is the min position of the finger.
unsigned int DeviceID
 Not used for now.
unsigned int CodeVersion
 Code version of the finger's firmware.
unsigned short IsFingerInit
 A flag that indicates if the finger is initialized or not.
unsigned short Index
 Index of the finger.
unsigned short FingerAddress
 Address of the finger.
unsigned short IsFingerConnected
 A flag that indicates if the finger is connected.

Detailed Description

Structure that represents a finger from the end effector's tool.

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