test.py

# Import necessary libraries
from robotiqcontrol.GripperController import GripperController
import time

def main():
    # Initialize the GripperController object with the IP address of the server
    gripper = GripperController("192.168.1.11")

    # Activate the gripper
    gripper.activate()

    # Set up the initial parameters for the gripper command
    target_position = [10, 20, 11]  # Desired finger positions
    speed = [250, 205, 250]  # Speed of the movement
    force = [250, 250, 250]  # Force applied by the fingers

    # Select gripper mode - options: "Basic", "Wide", "Pinch", "Scissor"
    mode = "Pinch"
    
    # Define if individual finger control is required
    individual_control = False

    # If individual control is not required, replicate the first element across the list
    target_position = [target_position[0]] * 3 if not individual_control else target_position
        
    # Send command to the gripper with the specified parameters
    gripper.command_gripper(rPRA=target_position, rSP=speed, rFR=force, rMOD=mode, rICF=individual_control)

    # Wait for the gripper to reach the target positions
    while ([gripper.FingerA_Position, gripper.FingerB_Position, gripper.FingerC_Position] != target_position):
        time.sleep(0.1)

    # # Output the current finger positions
    # print(f"FingerA_Position: {gripper.FingerA_Position} FingerB_Position: {gripper.FingerB_Position} FingerC_Position: {gripper.FingerC_Position}")

    # # Update the command parameters for the next movement
    individual_control = True
    speed = [25, 20, 25]  # Speed of the movement
    target_position = [200, 20, 110]  # New target positions
    mode = "Basic"  

    # # Adjust target_position if individual control is not enabled
    # target_position = [target_position[0]] * 3 if not individual_control else target_position
    time.sleep(5)
    # Send the new command to the gripper
    gripper.command_gripper(rPRA=target_position, rSP=speed, rFR=force, rMOD=mode, rICF=individual_control)

    # Wait for the gripper to reach the new target positions
    while ([gripper.FingerA_Position, gripper.FingerB_Position, gripper.FingerC_Position] != target_position):
        time.sleep(0.1)
        print([gripper.FingerA_Position, gripper.FingerB_Position, gripper.FingerC_Position])

    # # Print the updated positions of the fingers
    # print(f"FingerA_Position: {gripper.FingerA_Position} FingerB_Position: {gripper.FingerB_Position} FingerC_Position: {gripper.FingerC_Position}")
    
    # Close the connection when finished
    gripper.close()

if __name__ == '__main__':
    main()