ctu_crs.gripper

Classes

Module Contents

class ctu_crs.gripper.Gripper(mars=None, bounds=None, axis=None)

Parameters:: mars (ctu_mars_control_unit.MarsControlUnit | None)

_mars = None

_axis = None

_ADC = 10

_current = 16

_feedback = 500

_REGME = 10000

_REGMS = 500

_REGCFG = 256

_REGP = 200

_REGI = 0

_REGD = 100

gripper_poll_time = 0.2

gripper_poll_diff = 50

bounds = None

_initialized = False

initialize()

control_position_relative(fraction)

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

Parameters:: fraction (float)

control_position(position)

Control the gripper by absolute position.

Parameters:: position (float)

release(): Release the gripper and reset the control unit.

wait_for_motion_stop(): Wait until the gripper stops moving.