set_speed Method

XenseGripper.set_speed(self, velocity, fmax=27)

Speed closed-loop control (sets the movement speed of the gripper).

Parameters:

• velocity (float) – Target speed of the gripper in millimeters per second (mm/s). A positive value indicates movement in the closing direction, a negative value indicates movement in the opening direction, and 0 indicates stopping. The absolute value of the speed must be within the range (0, 440).

• fmax (float, optional) – Maximum thrust force in Newtons (N). Must be within the range [0, 60]. Default value is 27 N.

Example Code

import time
from threading import Thread

from pynput import keyboard

from xensegripper import XenseGripper


CLOSE = False
BREAK = False

def on_press(key):
    try:
        global CLOSE
        if key == keyboard.Key.space:
            if CLOSE:
                CLOSE = False
                print("Start opening")
            else:
                CLOSE = True
                print("Start closing")
        if key == keyboard.Key.esc:
            global BREAK
            BREAK = True
            print("Exit program")
            return False

    except AttributeError:
        pass

def data_fetch():
    while True:
        status = gripper.get_gripper_status()
        time.sleep(0.05)


listener = keyboard.Listener(on_press=on_press)
listener.start()

gripper = XenseGripper.create("9a14e81bb832")
data_fetch_thread = Thread(target=data_fetch, daemon=True)
data_fetch_thread.start()

# Choose one of the following two methods
# with gripper.mode(XenseGripper.ControlMode.SAFE) as gripper:
#     while True:
#         if not CLOSE:
#             # print("Opening")
#             gripper.set_position(80)
#         else:
#             # print("Closing")
#             gripper.set_position(0)
#             pass
#         time.sleep(0.05)
with gripper.mode(XenseGripper.ControlMode.SPEED) as gripper:
    while True:
        if not CLOSE:
            # print("Opening")
            gripper.set_speed(40)
        else:
            # print("Closing")
            gripper.set_speed(-40)
        time.sleep(0.05)