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https://github.com/agroboticsresearch/e-strawberry-gripper

https://github.com/agroboticsresearch/e-strawberry-gripper

Science Score: 13.0%

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Repository

Basic Info
  • Host: GitHub
  • Owner: AgRoboticsResearch
  • Language: Python
  • Default Branch: main
  • Size: 32.2 KB
Statistics
  • Stars: 0
  • Watchers: 2
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created over 1 year ago · Last pushed over 1 year ago
Metadata Files
Readme

Readme.md

Gripper Control Module

This module provides a Python interface to control a gripper device using Modbus RTU communication. It supports the following functions:

  1. Reset: Open the gripper to the default position.

  2. Close: Close the gripper to a specified position.

  3. Read Position: Read the current position of the gripper.

Installation

pip install pymodbus pip install pyserial

Uesage

The setting of timeout

The timeout should be as small as possible to speed up the response, but tests have found that when the timeout < 0.005 causes the read to fail. In this code it is set to 0.005.

In Ubuntu

dmesg | grep tty sudo chmod 666 /dev/ttyUSB0 #if the port is USB0 The usage is all in main.py.

1.Import the Module:

Import the GripperControl class from the module: from gripper_control import GripperControl

2.Initialize the Gripper:

Create an instance of the GripperControl class by specifying the serial port: port = "COM9" # Replace with your COM port gripper = GripperControl(port)

Functions

1. Reset the Gripper

Open the gripper to the default position 100. You can modify the location of the initialization in according to your needs. gripper.gripper_reset(open_position)

2. Close the Gripper

Close the gripper to grasp. You can set the position in according to your needs. However, please note that the maximum position should not exceed 560. gripper.gripper_close(close_position)

3. Read the Gripper Position

Read the current position of the gripper. gripper.read_position(read_num_registers: int = 1)

4. Value in each register

00002 Position 00003 最高速度-Maxspeed 1000 #200-1023 00004 循环模式-LoopMode 0 00006 目标回写-TargetWriteback 1 00007 极性-Polarity 0 00008 目标锁定-TargetLock 1 00009 PID_P 50 00010 PID_I 5 00010 PID_D 0 00014 死区-Deadzone 15 00015 最大扭矩-MaxTrque 800

Owner

  • Name: AgRoboticsResearch
  • Login: AgRoboticsResearch
  • Kind: organization

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