testGripper.groovy

testGripper.groovy

//ScriptingEngine.gitScriptRun("https://github.com/CommonWealthRobotics/DeviceProviders.git","loadAll.groovy", null);
def robot = DeviceManager.getSpecificDevice( "HephaestusArmV2",{
	return MobileBaseLoader.fromGit(
				"https://github.com/Hephaestus-Arm/HephaestusArm2.git",
				"hephaestus.xml"
				)		
})
def dev = DeviceManager.getSpecificDevice( "hephaestus-16c00486")


for (int i=0;i<180;i++){
	dev.setGripper(i);
	Thread.sleep(20)
}
for (int i=180;i>0;i--){
	dev.setGripper(i);
	Thread.sleep(20)
}