Gripper¶

Command	Kind	Argument	What it does	Response
`#Gripper`	Set/Get	int: 0 or 1	Whether this driver is a gripper. Save it; `#Default` clears it.	the flag
`#Gripcal`	Action		Starts the gripper calibration (the jaws find their end stops). Enters gripper calibration mode.	`Gripper calibration!`
`#Gripinfo`	Get		Prints the gripper state: whether the driver is a gripper, calibrated, activated, the position, speed and current setpoints, the E-stop, action and object-detection status, and the end stops.	the report
`#Gripstop`	Set/Get	int: 0 or 1	The gripper E-stop bit.	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 firmware does not clamp it; see the gripper manual for the safe range.	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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