backup_gripper.py

import serial
import time
import binascii

ser = serial.Serial(port='/dev/ttyS0',baudrate=115200,timeout=1, parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,bytesize=serial.EIGHTBITS)
counter = 0

while counter < 1:
   counter = counter + 1
   ser.write(str.encode("\x09\x10\x03\xE8\x00\x03\x06\x00\x00\x00\x00\x00\x00\x73\x30"))
   data_raw = ser.readline()
   print(data_raw)
   data = binascii.hexlify(data_raw)
   print("Response 1 ", data)
   time.sleep(0.01)
 
   ser.write(str.encode("\x09\x03\x07\xD0\x00\x01\x85\xCF"))
   data_raw = ser.readline()
   print(data_raw)
   data = binascii.hexlify(data_raw)
   print("Response 2 ", data)
   time.sleep(1)
 
while(True):
   print("Close gripper")
   ser.write(str.encode("\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\xFF\xFF\xFF\x42\x29"))
   data_raw = ser.readline()
   print(data_raw)
   data = binascii.hexlify(data_raw)
   print("Response 3 ", data)
   time.sleep(2)
 
   print("Open gripper")
   ser.write(str.encode("\x09\x10\x03\xE8\x00\x03\x06\x09\x00\x00\x00\xFF\xFF\x72\x19"))
   data_raw = ser.readline()
   print(data_raw)
   data = binascii.hexlify(data_raw)
   print("Response 4 ", data)
   time.sleep(2)