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42 lines
1.2 KiB
Markdown
42 lines
1.2 KiB
Markdown
---
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pageClass: is-wide-page
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---
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# Gripper (UORB message)
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# Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module.
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**TOPICS:** gripper
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## Fields
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| Name | Type | Unit [Frame] | Range/Enum | Description |
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| --------- | -------- | ------------ | ---------- | ------------------------------- |
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| timestamp | `uint64` | | |
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| command | `int8` | | | Commanded state for the gripper |
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## Constants
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| Name | Type | Value | Description |
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| --------------------------------------------- | ------ | ----- | ----------- |
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| <a id="#COMMAND_GRAB"></a> COMMAND_GRAB | `int8` | 0 |
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| <a id="#COMMAND_RELEASE"></a> COMMAND_RELEASE | `int8` | 1 |
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## Source Message
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[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/Gripper.msg)
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::: details Click here to see original file
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```c
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## Used to command an actuation in the gripper, which is mapped to a specific output in the control allocation module
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uint64 timestamp
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int8 command # Commanded state for the gripper
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int8 COMMAND_GRAB = 0
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int8 COMMAND_RELEASE = 1
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```
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:::
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