Maestro Servo Controller Script for controlling UR3 gripper through I/O tool outputs

maestro_setting.txt

<!--Pololu Maestro servo controller settings file, http://www.pololu.com/catalog/product/1350-->
<UscSettings version="1">
  <NeverSuspend>false</NeverSuspend>
  <SerialMode>UART_FIXED_BAUD_RATE</SerialMode>
  <FixedBaudRate>9600</FixedBaudRate>
  <SerialTimeout>0</SerialTimeout>
  <EnableCrc>false</EnableCrc>
  <SerialDeviceNumber>12</SerialDeviceNumber>
  <SerialMiniSscOffset>0</SerialMiniSscOffset>
  <Channels ServosAvailable="1" ServoPeriod="234">
    <!--Period = 4.992 ms-->
    <!--Channel 0-->
    <Channel name="" mode="Servo" min="320" max="12992" homemode="Ignore" home="320" speed="0" acceleration="0" neutral="4032" range="1905" />
    <!--Channel 1-->
    <Channel name="" mode="Input" min="0" max="1024" homemode="Ignore" home="0" speed="0" acceleration="0" neutral="1024" range="1905" />
    <!--Channel 2-->
    <Channel name="" mode="Input" min="0" max="1024" homemode="Ignore" home="0" speed="0" acceleration="0" neutral="1024" range="1905" />
    <!--Channel 3-->
    <Channel name="" mode="Input" min="0" max="1024" homemode="Ignore" home="0" speed="0" acceleration="0" neutral="1024" range="1905" />
    <!--Channel 4-->
    <Channel name="" mode="Input" min="0" max="1024" homemode="Ignore" home="0" speed="0" acceleration="0" neutral="1024" range="1905" />
    <!--Channel 5-->
    <Channel name="" mode="Input" min="0" max="1024" homemode="Ignore" home="0" speed="0" acceleration="0" neutral="1024" range="1905" />
  </Channels>
  <Sequences />
  <Script ScriptDone="false">begin
    # comment lines 6 to 9 and uncomment line 14 to use the gripper
    # do the opposite thing to test the servo range

    # servo testing
    #2000 0 servo
    #1000 delay
    #10000 0 servo
    #1000 delay
    #drop drop drop

    # initial setting
    #&lt;pos&gt; &lt;low&gt; &lt;high&gt; &lt;pos&gt; &lt;low&gt; &lt;high&gt; servo_range
    #2000 0 11 10000 12 1023 servo_range

    # setting
    #&lt;pos&gt; &lt;low&gt; &lt;high&gt; &lt;pos&gt; &lt;low&gt; &lt;high&gt; servo_range
    #2000 0 11 8000 12 1023 servo_range    #3 get_position
    #2 get_position
    #1000 delay
    #drop drop
repeat

sub servo_range
    pot1 5 pick less_than logical_not #&gt;=low
    pot1 5 pick greater_than logical_not #&lt;=high
    logical_and
    if
      0
    else
      1
    endif 
    pot2 6 pick less_than logical_not #&gt;=low
    pot2 6 pick greater_than logical_not #&lt;=high
    logical_and
    if
      0
    else
      1   
    endif   
    1 pick logical_not
    if
      # zero in first
      0 pick logical_not
      if  
        # zero in second
        #500 delay
        8000 move_servo
      else
        # one in second
        #500 delay
        6600 move_servo
      endif
    else
      # one in first
      0 pick logical_not
      if  
        # zero in second
        #500 delay
        5300 move_servo
      else
        # one in second
        #500 delay
        4000 move_servo
      endif    
    endif 

    drop drop drop drop drop drop drop drop
    return

sub pot1
    2 get_position
     return

sub pot2
    3 get_position
    return

sub move_servo
    0 servo
    500 delay
    return































</Script>
</UscSettings>

servo_ur3_gripper_controller.txt

begin
    # comment lines 6 to 9 and uncomment line 14 to use the gripper
    # do the opposite thing to test the servo range

    # servo testing
    #2000 0 servo
    #1000 delay
    #10000 0 servo
    #1000 delay
    #drop drop drop

    # initial setting
    #<pos> <low> <high> <pos> <low> <high> servo_range
    2000 0 11 10000 12 1023 servo_range

    # setting
    #<pos> <low> <high> <pos> <low> <high> servo_range
    #2000 0 11 8000 12 1023 servo_range    #3 get_position
    #2 get_position
    #1000 delay
    #drop drop
repeat

sub servo_range
    pot1 5 pick less_than logical_not #>=low
    pot1 5 pick greater_than logical_not #<=high
    logical_and
    if
      0
    else
      1
    endif 
    pot2 6 pick less_than logical_not #>=low
    pot2 6 pick greater_than logical_not #<=high
    logical_and
    if
      0
    else
      1   
    endif   
    1 pick logical_not
    if
      # zero in first
      0 pick logical_not
      if  
        # zero in second
        #500 delay
        8000 move_servo
      else
        # one in second
        #500 delay
        6600 move_servo
      endif
    else
      # one in first
      0 pick logical_not
      if  
        # zero in second
        #500 delay
        5300 move_servo
      else
        # one in second
        #500 delay
        4000 move_servo
      endif    
    endif 

    drop drop drop drop drop drop drop drop
    return

sub pot1
    2 get_position
     return

sub pot2
    3 get_position
    return

sub move_servo
    0 servo
    500 delay
    return