Basic Usage

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

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().

gripper.printStatus()

The lastest gripper status can be retrieved as a dictionnary using status().

gripper_status = gripper.status()
print(gripper_status)

The name of the keys of the status dictionnary are the same as the names of the gripper registers.