# Basic Usage

```{youtube} 0TauzknU79I
```

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

```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()`.

```python
gripper.printStatus()
```

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

```python
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.