Advanced Usage

Realtime control

For realtime control use the realTimeMove method.

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.

Joystick CLI Feature

pyRobotiqGripper includes a command-line interface (CLI) tool for controlling the gripper using a joystick, gamepad or a mouse.

This CLI requires the all extra.

To use the Joystick CLI, run the following command:

pyrobotiqgripper-joystick

Note

By defaut the application will automatically detect the the port on which is connected the gripper. It expects that the gripper is connected to the PC via USB and that a joystick is also connected to the PC.

You can also check the available options:

pyrobotiqgripper-joystick --help

Here below is an example where the application is launched with mouse control and the gripper communication is done via Modbus RTU over TCP.

pyrobotiqgripper-joystick --connection-type "RTU_VIA_TCP" --tcp-host 10.0.0.153 --tcp-port 2000 --joystick-id -1 --verbose 1