Basic Usage
===========

Typical Usage
-------------

Robotiq gripper connected at PC USB port via a USB to RS485 converter
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

.. code-block:: python

    import pyrobotiqgripper as rq

    #Create a Robotiq gripper object.
    gripper = rq.RobotiqGripper()

By default, the serial port on which the gripper is connected is automatically detected.\
 However, you can manually specify the serial port name if you want to. Refer to the \
 API documentation for more information.

.. code-block:: python

    import pyrobotiqgripper as rq

    #Create a Robotiq gripper object and specify the serial port name.
    gripper = rq.RobotiqGripper(com_port="COM3")

Robotiq gripper connected to a UR robot with RS485 URCAP installed
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

Replace <UR_ROBOT_IP> with the actual IP address of your UR robot.

.. code-block:: python

    from pyrobotiqgripper import RobotiqGripper

    #Create a Robotiq gripper object.
    gripper = RobotiqGripper(connection_type="RTU_VIA_TCP", tcp_host=<UR_ROBOT_IP>)

Gripper control
~~~~~~~~~~~~~~~
Activate the gripper and do whatever you want with the gripper: open, close, get position feedback, etc.

.. code-block:: python

    gripper.connect()
    gripper.activate()
    gripper.calibrate_mm(closemm=0, openmm=40)
    gripper.open()
    gripper.close()
    gripper.move(100)
    position_in_bit = gripper.position()
    print(position_in_bit)
    gripper.move_mm(25)
    position_in_mm = gripper.positionmm()
    print(position_in_mm)

Note: During activation, the gripper is going to fully open and close. Do not disturb this process. Do not place an object inside the gripper.

Note: Position, Speed and Force varie from 0 to 255. It is coded on 8 bits.

You can print the current status of gripper registers using `printStatus()`.

.. code-block:: python

    gripper.printStatus()

For realtime control use the realTimeMove method.

.. code-block:: python

    gripper.realTimeMove(requestedPosition=100)

The realTimeMove method is designed to be called in a loop with a high frequency.\
 It will move the gripper to the requested position with a speed that depends on\
 the distance to the target position. This allows for a smooth and responsive\
 control of the gripper.