Gripper¶

Command	Kind	Argument	What it does	Response
`#Gripper`	Set/Get	int: 0 or 1	Whether this driver is a gripper. A gripper has it set and saved; `#Default` clears it, so set it again after restoring the defaults.	the flag
`#Gripcal`	Action		Starts the gripper calibration (the jaws find their end stops). Clear any error first; until `#Gripinfo` reports it calibrated, send no `#Grippos` or `#Clear`, which end it. Enters gripper calibration mode.	`Gripper calibration!`
`#Gripinfo`	Get		Prints the gripper state: gripper mode, calibrated, activated, the position, speed and current setpoints, the E-stop and action bits, the object detection, and the end stops in encoder ticks.	the report
`#Gripstop`	Set/Get	int: 0 or 1	The gripper E-stop bit. While it is 1, the E-stop error is raised again at every cycle: set it to 0 before `#Clear`.	the bit
`#Gripact`	Set/Get	int: 0 or 1	The activate bit.	the bit
`#Gripcur`	Set/Get	int: current in mA	The current limit of gripper moves, the grip force. The firmware does not clamp it; keep it at or below the stepper's rated current (see Force and speed).	the setpoint
`#Gripvel`	Set/Get	int: 0 to 255	The speed setpoint of gripper moves.	the setpoint
`#Grippos`	Set/Get	int: 0 (open) to 255 (closed)	The position setpoint; also activates the gripper, sets the action bit and goes to gripper mode. Enters gripper mode.	the current position

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