ctu_crs.gripper
===============

.. py:module:: ctu_crs.gripper


Classes
-------

.. autoapisummary::

   ctu_crs.gripper.Gripper


Module Contents
---------------

.. py:class:: Gripper(mars = None, bounds=None, axis=None)

   .. py:attribute:: _mars
      :value: None



   .. py:attribute:: _axis
      :value: None



   .. py:attribute:: _ADC
      :value: 10



   .. py:attribute:: _current
      :value: 16



   .. py:attribute:: _feedback
      :value: 500



   .. py:attribute:: _REGME
      :value: 10000



   .. py:attribute:: _REGMS
      :value: 500



   .. py:attribute:: _REGCFG
      :value: 256



   .. py:attribute:: _REGP
      :value: 200



   .. py:attribute:: _REGI
      :value: 0



   .. py:attribute:: _REGD
      :value: 100



   .. py:attribute:: gripper_poll_time
      :value: 0.2



   .. py:attribute:: gripper_poll_diff
      :value: 50



   .. py:attribute:: bounds
      :value: None



   .. py:attribute:: _initialized
      :value: False



   .. py:method:: initialize()


   .. py:method:: control_position_relative(fraction)

      Control the gripper by relative position 0 = bounds[0], 1 = bounds[1]



   .. py:method:: control_position(position)

      Control the gripper by absolute position.



   .. py:method:: release()

      Release the gripper and reset the control unit.



   .. py:method:: wait_for_motion_stop()

      Wait until the gripper stops moving.