===============
Gripper Control
===============

.. raw:: html
    
    <div style="background: #C3F8FF" class="admonition note custom">
        <p style="background: light-blue" class="admonition-title">
            Follow along: Gripper Control
        </p>
        <div class="line-block">
            <div class="line">The program launching process along with parameter settings are all simplified and set up on the Jupyter Notebook Environment.</div>
        </div>
        <ul>
            <li>Open the 05_08_grip.ipynb Jupyter Notebook.</li>
            <li>Load Arm_Lib module and register the robot arm as an object.</li>
            <li>Follow and Execute the example codes.</li>

        </ul>
        <div class="line">(The Jetson Board used for these examples are => Jetson Nano)</div>
        
    </div>


.. raw:: html

    <hr>

-   05_08_grip.ipynb
-   | Running the cell code.
    | `Ctrl + Enter`
-   To control the robot arm from code, don't forget to shut down the docker container. See `here <https://zeta-edu-lecture.readthedocs.io/en/latest/lecture_courses/course_1/5.robot_arm_ex/2.basic_control/2.before_starting.html>`_.

.. thumbnail:: /_images/arm/gripper1.png

-   Load Arm_Lib module and register the robot arm as an object.

.. code-block:: python

    import time
    from Arm_Lib import Arm_Device

    # Register robot arm object.
    Arm = Arm_Device()
    time.sleep(.1)

-   list = [motor 1, motor 2, motor 3, motor 4, motor 5, motor 6]

.. code-block:: python

    jonits_home = [90, 90, 90, 90, 90, 90]

    # Open first position.
    joints_0 = [39, 61, 23, 67, 89, 90]
    # Close first position.
    joints_1 = [39, 61, 23, 67, 89, 130]
    # Heighten first position.
    joints_2 = [39,107,37,67,89,130]
    # Pick the rotated state.
    joints_3 = [150,105,35,67,89,130]
    # lower the rotated state.
    joints_4 = [149,63,30,66,89,130]
    # release the rotated state.
    joints_5 = [149,63,30,66,89,90]

-   Pick and Place through servo motor and gripper control.

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(jonits_home, 2000)

-   Arm_serial_servo_write6_array(list, time)

.. code-block:: python

    Arm_serial_servo_write6_array(list, time)

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(joints_1, 500)
    time.sleep(.1)

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(joints_2, 2000)

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(joints_3, 1500)

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(joints_4, 1500)

.. code-block:: python

    Arm.Arm_serial_servo_write6_array(joints_5, 500)


-   Remove the robot arm object.

.. code-block:: python

    del Arm  # Remove robot arm object.