Crate robotiq_rs

Robotiq-rs

robotiq-rs is a library for interfacing with robotiq gripper

Compatiable product

• Robotiq 2F-85
• Robotiq 2F-140 (i guess🤷🏻‍♂️)
• HandE
• 3-Finger Gripper
• Vaccum Gripper

Example

use robotiq_rs::*;
 
#[tokio::main]
async fn main() -> Result<(), RobotiqError> {
    // The serial port path
    let path = "COM17";
 
    // create a connection to serial RS485 modbus
    let mut gripper = RobotiqGripper::from_path(path)?;
 
    // Reset and Activation of Gripper
    //
    // reset gripper, recommended
    gripper.reset().await?;
    // activate the gripper, it will try to open and close.
    gripper.activate().await?.await_activate().await?;
    println!("finished activation.");
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    // Basic Gripper Command
    //
    // set gripper with position, speed and force
    gripper.go_to(0x08, 0x00, 0x00).await?;
    // the result of the setting command, return whether or not it have clamp an object
    let obj_detect_status = gripper.await_go_to().await?;
    println!("Object Detect Status : {:?}", obj_detect_status);
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    // Chained command
    //
    // chained command with builder pattern
    let obj_detect_status = gripper.go_to(0xFF, 0xFF, 0xFF).await?.await_go_to().await?;
    println!("Object Detect Status : {:?}", obj_detect_status);
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    // Automatic Release Routine
    //
    // set the gripper into motion
    gripper.go_to(0x08, 0x00, 0x00).await?;
    std::thread::sleep(std::time::Duration::from_millis(100));
    gripper.automatic_release(false).await?;
    // you will need to reset and reactivate the gripper after automatic release routine
    gripper
        .reset()
        .await?
        .activate()
        .await?
        .await_activate()
        .await?;
    std::thread::sleep(std::time::Duration::from_millis(1000));
    gripper.go_to(0x08, 0x00, 0x00).await?;
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    // Gripper Command
    //
    // Construct GripperCommand to command gripper
    //
    // a null command, all zero, will deactivate and reset the gripper
    let cmd_null = GripperCommand::new();
    // command to activate the gripper
    let cmd_act = GripperCommand::new().act(true);
    // commands to set the gripper with position requested, speed, and force
    let cmd_goto_1 = GripperCommand::new()
        .act(true)
        .gto(true)
        .pos_req(0x08)
        .speed(0x00)
        .force(0x00);
    let cmd_goto_2 = GripperCommand::new()
        .act(true)
        .gto(true)
        .pos_req(0xFF)
        .speed(0xFF)
        .force(0xFF);
    // command to perform automatic release routine
    let cmd_atr = GripperCommand::new().act(true).atr(true).ard(true);
 
    //
    //
    gripper.write_async(cmd_null).await?;
    gripper.write_async(cmd_act).await?;
    while gripper.read_async().await?.sta != ActivationStatus::Completed {
        std::thread::sleep(std::time::Duration::from_millis(100));
    }
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    //
    //
    gripper.write_async(cmd_goto_1).await?;
    while gripper.read_async().await?.obj == ObjDetectStatus::InMotion {
        std::thread::sleep(std::time::Duration::from_millis(100));
    }
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    //
    //
    gripper.write_async(cmd_goto_2).await?;
    std::thread::sleep(std::time::Duration::from_millis(100));
    gripper.write_async(cmd_atr).await?;
    while gripper.read_async().await?.fault != GripperFault::AutomaticReleaseCompleted {
        std::thread::sleep(std::time::Duration::from_millis(100));
    }
    std::thread::sleep(std::time::Duration::from_millis(1000));
 
    gripper
        .reset()
        .await?
        .activate()
        .await?
        .await_activate()
        .await?
        .go_to(0x00, 0xFF, 0xFF)
        .await?
        .await_go_to()
        .await?;
 
    Ok(())
}

Structs

• GripperCommand
  Robot Output/ Functionalities
• GripperStatus
  Robot Input / Status of the gripper
• RobotiqGripper
  Data Structure for interfacing with robotiq gripper with modbus rtu protocol.

Enums

• ActivationStatus
  The gripper’s activation status
• GripperFault
  Fault status return general error messages that are useful for troubleshooting. Fault LED (red) is present on the gripper chassis, LED can be blue, red or both and be solid or blinking.
• ObjDetectStatus
  Object Detection status, is a built-in feature that provides information on possible object pick-up. Ignore if gGTO == 0.
• RobotiqError