int main() {
Gripper gripper;
pthread_t com=launch(&gripper,Com); //!<start communication
pthread_t fault=launch(&gripper,Fault); //!<start fault monitoring
//!Connect
while(!gripper.isConnected())
{
gripper.connect("192.168.1.11",502);
usleep(sec);
}cout << "connected" <<endl;
//!Activation
while(!gripper.isActivated()){
gripper.activate();
usleep(sec);
}cout << "activated" <<endl<<endl;
//============================================================================
// gripper do stuff here
// refer to the interface documentation interface.pdf for available methods
//============================================================================
//!Deactivate
gripper.go(false);
gripper.clear();
gripper.go(true);
while(!gripper.isMoving()){
usleep(ms);
}cout<<"moving back to full open"<<endl;
while(gripper.isMoving()){
usleep(ms);
}cout<<"position reached"<<endl;
gripper.deactivate();
cout<<"deactivated"<<endl;
gripper.disconnect();
cout<<"disconnected"<<endl;
terminate(fault);
terminate(com);
return 0;
}
