Gripper control

It is mainly used to inspect and operate the robot arm. First install and connect the gripper onto the robot arm. 1. For an adaptive gripper, insert it on the pin on the atom, as shown in the following figure:

is_gripper_moving(id)

Judge whether the gripper is moving or not

• Parameters

  id – 1/2 (L/R)

• Returns

  0 - not moving 1 - is moving -1 - error data

set_gripper_value(id, value, speed)

Set gripper value

• Parameters

  • id – 1/2 (L/R)

  • value (int) – 0 ~ 100

  • speed (int) – 0 ~ 100

get_gripper_value(id)

Get the value of gripper.

• Parameters

  id – 1/2 (L/R)

• Returns

  gripper value (int)

set_gripper_calibration(id)

Set the current position to zero, set current position value is 2048.

• Parameters

  id – 1/2 (L/R)

is_gripper_moving(id)

Judge whether the gripper is moving or not

• Parameters

  id – 1/2 (L/R)

• Returns

  0 - not moving 1 - is moving -1 - error data