Metadata-Version: 2.3
Name: PyGRIPLINK
Version: 2.0.0
Summary: Implementation of the Weiss Robotics GRIPLINK command protocol
Project-URL: Homepage, https://www.weiss-robotics.com/griplink/
Author-email: Steffen Wolfer <wolfer@weiss-robotics.com>, Steffen Keller <keller@weiss-robotics.com>
License-File: LICENSE
Classifier: Operating System :: OS Independent
Classifier: Programming Language :: Python :: 3.8
Requires-Python: >=3.8
Description-Content-Type: text/markdown

# Python implementation of the GRIPLINK command protocol

Provides the classes *Griplink*, *GriplinkError* and *TCmd*. PyDoc
documentation is included in the sources.
Use it as a git submodule in your own Python projects.

## Class *Griplink*

The main class that provides all the necessary methods to control
GRIPLINK-based devices like the GRIPLINK-ET4 controller or WPG grippers.
Uses the *TCmd* class by inheritance to provide extended functionality
by aggregating multiple GRIPLINK commands in one method.
For most cases it is recommended to use this class instead calling the methods
of the TCmd class directly.

Examples:

- Calling PROTASSERT after connecting to the controller put into
Griplink.connect() method
- Calling BYE before disconnecting put into Griplink.disconnect() method.
- Calling GRIP followed by WSTR to wait for state transition put into
Griplink.grip() method
- Calling RELEASE followed by WSTR to wait for state transition put into
Griplink.release() method.

## Class *TCmd*

The base class that handles all the communication and provides methods to
execute basic GRIPLINK commands, queries and assignments.
Prefereably don't use this class directly. Use the *Griplink* class instead
as it's much more convenient.

## Class *GriplinkError*

An exception class dedicated to errors that can occur when using the GRIPLINK
command protocol. Used by the *TCmd* class.
