OnRobot RG6 - Page 36

Operation
36
Function name:
OR_Gecko_getUS(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
Ultrasonic sensor measures the distance in mm
Description:
Get ultrasonic sensor data (measured distance).
Example:
instance = 1
CallProc ultrasonic_value = CallProc
OR_Gecko_getUS(instance)
Function name:
OR_Gecko_isConn(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: gripper is not connected
1: gripper is connected
Description:
Checks that is the gripper connected or not.
Example:
instance = 1
CallProc gecko_connected = OR_Gecko_isConn(instance)
Function name:
OR_Gecko_isPart(instance)
Name
Type
Description
Input:
instance
integer
1: single or primary - in dual configuration
2: secondary in dual configuration
Output:
-
integer
0: part is not detected
1: part is detected
Description:
Checks that is part(object) detected or not.
Example:
instance = 1
CallProc part_detected = OR_Gecko_isPart(instance)