Separate Gripper Control Scripts

Yes - it’s better to split this into two separate scripts, one for the right gripper and one for the left gripper. That keeps each gripper independent and easier to debug.

A couple of important fixes first:

• ADC.get() should read the analog sensor port only
• For the lever switch, if it’s a digital switch, you should use Digital.get() instead of ADC.get()
• If the servo is supposed to keep holding the object, you generally do not release the servo after closing
• For slow closing, set the servo speed before moving it

Right Gripper Script

var rightGripperServo = v9;
var rightIr = ADC1;
var rightLever = d6; // change to your actual digital port for the lever switch
var closeSpeed = 10; // 0 = fastest, 10 = slowest

function closeRightGripperOnIR() {
  print("Right gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(rightIr, 35);
    print("Right IR detected object. Closing gripper...");

    Servo.setSpeed(rightGripperServo, closeSpeed);
    Servo.setPosition(rightGripperServo, 1);

    while (Digital.get(rightLever) == false) {
      sleep(20);
    }

    print("Right object now gripped. Holding position.");
    Servo.setSpeed(rightGripperServo, 0);
    break;
  }
}

closeRightGripperOnIR();

Left Gripper Script

var leftGripperServo = v25;
var leftIr = ADC2;
var leftLever = d7; // change to your actual digital port for the lever switch
var closeSpeed = 10; // 0 = fastest, 10 = slowest

function closeLeftGripperOnIR() {
  print("Left gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(leftIr, 35);
    print("Left IR detected object. Closing gripper...");

    Servo.setSpeed(leftGripperServo, closeSpeed);
    Servo.setPosition(leftGripperServo, 1);

    while (Digital.get(leftLever) == false) {
      sleep(20);
    }

    print("Left object now gripped. Holding position.");
    Servo.setSpeed(leftGripperServo, 0);
    break;
  }
}

closeLeftGripperOnIR();

Notes

• I changed your lever inputs from ADC6 / ADC7 to digital ports because a lever switch is typically an on/off input.
• If your lever switch is actually wired as an analog input, tell me and I’ll adjust the script.
• Your script uses v25 for the left gripper servo. That’s fine if it’s a virtual servo port from a servo skill. If it is a physical EZ-B servo port, that would need to be changed.

Open / Release behavior

You mentioned:

The gripper will continue to hold the object until told to release it.

That usually means you want a separate release script for each gripper. For example:

var rightGripperServo = v9;

Servo.setSpeed(rightGripperServo, 10);
Servo.setPosition(rightGripperServo, 180); // change to your open position
sleep(500);

and similarly for the left gripper.

Best ARC setup

If you’re using speech recognition in ARC:

1. Add a Speech Recognition skill
2. In its script for phrases like:
   • "open right gripper"
   • "open left gripper"
   • "release right gripper"
   • "release left gripper"
3. Put the corresponding open/release script in each phrase action

If you want, I can help you make this into a cleaner structure with:

• one reusable function
• separate open / close / release commands
• speech phrases wired into ARC properly

If you share:

• which digital ports the lever switches are actually on
• the open and closed servo positions
• whether v9 and v25 are definitely virtual servo ports

I can tailor the scripts exactly to your grippers.

Just so you know, the gripper servos v9 and v25 are the physical ports used on a SSC32 and I am using the ssc32 version2 skill to control this. I like the idea of using D6 and D7 instead of ADC6 and ADC7 for the limit switches on the grippers.

Each grippers open position is this:

Servo.setSpeed(v25, 10) 
Servo.setSpeed(v9, 10)
Servo.setPosition(v25, 180)
Servo.setPosition(v9, 180)

Each grippers close position is this:

Servo.setSpeed(v25, 10)
Servo.setSpeed(v9, 10)
Servo.setPosition(v25, 1)
Servo.setPosition(v9, 1)

Left gripper = v25, Right gripper = v9

Perfect - that clarifies it.

Since v9 and v25 are virtual servo ports from the SSC-32 v2 skill, your approach is correct. And yes, using D6 and D7 for the limit switches makes more sense if those switches are simple on/off contacts.

Recommended behavior

For each gripper:

1. Open on speech command
2. Wait for IR sensor
3. Close slowly
4. Stop when the lever switch is pressed
5. Keep holding position
6. Release only when a separate command is spoken

Left gripper close script

Use this for the left gripper on v25:

var leftGripperServo = v25;
var leftIr = ADC2;
var leftLever = d7;
var closeSpeed = 10;

function closeLeftGripperOnIR() {
  print("Left gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(leftIr, 35);
    print("Left IR detected object. Closing gripper...");

    Servo.setSpeed(leftGripperServo, closeSpeed);
    Servo.setPosition(leftGripperServo, 1);

    while (Digital.get(leftLever) == false) {
      sleep(20);
    }

    print("Left object now gripped. Holding position.");
    Servo.setSpeed(leftGripperServo, 0);
    break;
  }
}

closeLeftGripperOnIR();

Right gripper close script

Use this for the right gripper on v9:

var rightGripperServo = v9;
var rightIr = ADC1;
var rightLever = d6;
var closeSpeed = 10;

function closeRightGripperOnIR() {
  print("Right gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(rightIr, 35);
    print("Right IR detected object. Closing gripper...");

    Servo.setSpeed(rightGripperServo, closeSpeed);
    Servo.setPosition(rightGripperServo, 1);

    while (Digital.get(rightLever) == false) {
      sleep(20);
    }

    print("Right object now gripped. Holding position.");
    Servo.setSpeed(rightGripperServo, 0);
    break;
  }
}

closeRightGripperOnIR();

Open scripts

Since your open position is 180, here are simple open scripts.

Left open

Servo.setSpeed(v25, 10);
Servo.setPosition(v25, 180);

Right open

Servo.setSpeed(v9, 10);
Servo.setPosition(v9, 180);

Release scripts

If you want a separate release command that opens the gripper, you can use the same open scripts above.

Important note about servo holding

One detail: with SSC-32 v2, setting speed to 0 does not necessarily mean torque hold/torque off the way a smart servo might behave. The SSC-32 is sending servo pulse positions, so the servo will usually continue to hold its last commanded position as long as power is maintained.

So this is fine:

Servo.setPosition(v25, 1);

and then leave it there.

If the gripper is slipping after reaching the lever switch, that usually means one of these:

• the servo horn/mechanics need more force
• the servo needs more power
• the close position needs a little more travel
• the lever switch is triggering too early

Suggested speech commands in ARC

In the Speech Recognition skill:

• Open left gripper
• Close left gripper
• Release left gripper
• Open right gripper
• Close right gripper
• Release right gripper

Then assign each phrase to the matching script.

The settings are in the skill’s kebab menu (``) on the top right of the skill window.

One improvement I’d suggest

If you want, I can help you make each gripper into a single reusable function like:

• closeGripper(name, servoPort, irPort, leverPort)
• openGripper(servoPort)
• releaseGripper(servoPort)

That would reduce duplicated code and make ARC easier to maintain.

Quick question

Are your lever switches wired as:

• normally open and go HIGH when pressed, or
• normally closed and go LOW when pressed?

That determines whether the Digital.get(...) == false logic should be inverted.

To answer your question....

Quick question

Are your lever switches wired as:

• normally open and go HIGH when pressed, or
• normally closed and go LOW when pressed?

That determines whether the Digital.get(...) == false logic should be inverted. The grippers lever switches are "normally closed" and will go LOW when pressed

So you can correct to the two programs accordingly.

Also I would like to see the additional improvement you also suggested.

Absolutely - for normally closed lever switches that go LOW when pressed, the logic should be:

• pressed / triggered = Digital.get(port) == false
• not pressed = Digital.get(port) == true

So your existing while (Digital.get(... ) == false) approach is correct if you want to wait until the lever is pressed.

Cleaner reusable approach

Below is a more maintainable version with shared functions for:

• open gripper
• close gripper on IR, then stop at lever switch
• release gripper
• separate left/right commands

Shared script functions

function openGripper(servoPort) {
  Servo.setSpeed(servoPort, 10);
  Servo.setPosition(servoPort, 180);
  print("Gripper opened");
}

function releaseGripper(servoPort) {
  // Same as open for your setup
  Servo.setSpeed(servoPort, 10);
  Servo.setPosition(servoPort, 180);
  print("Gripper released/opened");
}

function closeGripperOnIR(servoPort, irPort, leverPort, gripperName) {
  print(gripperName + " gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(irPort, 35);

    print(gripperName + " IR detected object. Closing gripper...");
    Servo.setSpeed(servoPort, 10);
    Servo.setPosition(servoPort, 1);

    // Normally closed switch: LOW when pressed
    while (Digital.get(leverPort) == true) {
      sleep(20);
    }

    print(gripperName + " object now gripped. Holding position.");
    break;
  }
}

Left gripper script

Use this for the left gripper = v25, IR = ADC2, lever = D7:

closeGripperOnIR(v25, ADC2, d7, "Left");

Left open script

openGripper(v25);

Left release script

releaseGripper(v25);

Right gripper script

Use this for the right gripper = v9, IR = ADC1, lever = D6:

closeGripperOnIR(v9, ADC1, d6, "Right");

Right open script

openGripper(v9);

Right release script

releaseGripper(v9);

Why this version is better

This keeps the logic in one place, so if you later change:

• the close speed
• the IR threshold
• the lever behavior
• the open/close positions

you only change it once.

ARC Speech Recognition setup

In the Speech Recognition skill, you can map phrases like:

• open left gripper
• close left gripper
• release left gripper
• open right gripper
• close right gripper
• release right gripper

Then assign each phrase to the corresponding script.

You can edit the skill’s commands in the kebab menu on the top right of the Speech Recognition skill.

Reference:

• Speech Recognition skill

Optional improvement

If you want, I can make this even cleaner by giving you:

• one single master script
• one left command
• one right command
• and a release-all command

That would let ARC call the same script with a variable like "left" or "right" instead of duplicating phrases.

If you'd like, I can write that next in JavaScript for ARC.

While I like the separate Left gripper close script (Use this for the left gripper on v25)) and the Right gripper close script (Use this for the right gripper on v9) that you created, which I may stick with, it was the Shared script functions that I am a little confused with. I didn't see any port numbers listed in this script? Do the other scripts that follow have to included elsewhere?

Yes - the shared functions script is meant to be a helper script block, and the port numbers are passed in when you call the functions later.

So there are two parts:

1. The reusable function definitions
   These do not include specific ports because they’re written to work with either gripper.

2. The actual calls
   These are where you provide the ports like v25, ADC2, d7, etc.

How it works

You would place this in a script:

function openGripper(servoPort) {
  Servo.setSpeed(servoPort, 10);
  Servo.setPosition(servoPort, 180);
  print("Gripper opened");
}

function releaseGripper(servoPort) {
  Servo.setSpeed(servoPort, 10);
  Servo.setPosition(servoPort, 180);
  print("Gripper released/opened");
}

function closeGripperOnIR(servoPort, irPort, leverPort, gripperName) {
  print(gripperName + " gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(irPort, 35);
    print(gripperName + " IR detected object. Closing gripper...");

    Servo.setSpeed(servoPort, 10);
    Servo.setPosition(servoPort, 1);

    // Normally closed switch: LOW when pressed
    while (Digital.get(leverPort) == true) {
      sleep(20);
    }

    print(gripperName + " object now gripped. Holding position.");
    break;
  }
}

That script just defines the functions.

Then in a second script, you call them like this

Left gripper close

closeGripperOnIR(v25, ADC2, d7, "Left");

Right gripper close

closeGripperOnIR(v9, ADC1, d6, "Right");

Left open

openGripper(v25);

Right open

openGripper(v9);

Do the other scripts need to be included elsewhere?

No - not if they are in the same script window and executed together.

But in ARC, if you create separate script actions for speech commands, then each script box is independent. That means:

• if a script box contains only closeGripperOnIR(v25, ADC2, d7, "Left");
• then the function closeGripperOnIR() must already exist in that same script execution

Best way in ARC

You have two good options:

Option 1: Put all function definitions at the top of each script

Then add the one call at the bottom.

Example for left close:

function closeGripperOnIR(servoPort, irPort, leverPort, gripperName) {
  print(gripperName + " gripper waiting for IR detection...");

  while (true) {
    ADC.waitForLower(irPort, 35);
    print(gripperName + " IR detected object. Closing gripper...");

    Servo.setSpeed(servoPort, 10);
    Servo.setPosition(servoPort, 1);

    while (Digital.get(leverPort) == true) {
      sleep(20);
    }

    print(gripperName + " object now gripped. Holding position.");
    break;
  }
}

closeGripperOnIR(v25, ADC2, d7, "Left");

Option 2: Keep each gripper as its own full script

This is simpler for you right now and perfectly fine.

Example left close script:

print("Left gripper waiting for IR detection...");
while (true) {
  ADC.waitForLower(ADC2, 35);
  print("Left IR detected object. Closing gripper...");
  Servo.setSpeed(v25, 10);
  Servo.setPosition(v25, 1);

  while (Digital.get(d7) == true) {
    sleep(20);
  }

  print("Left object now gripped. Holding position.");
  break;
}

And right close script:

print("Right gripper waiting for IR detection...");
while (true) {
  ADC.waitForLower(ADC1, 35);
  print("Right IR detected object. Closing gripper...");
  Servo.setSpeed(v9, 10);
  Servo.setPosition(v9, 1);

  while (Digital.get(d6) == true) {
    sleep(20);
  }

  print("Right object now gripped. Holding position.");
  break;
}

My recommendation

Since you said you may stick with the separate scripts, I’d suggest this for now:

• Use separate scripts
• Keep them simple
• Put the port numbers directly in each one

That will be easier to debug in ARC.

If you want later, I can turn this into a single master script that takes a parameter like "left" or "right" and handles both grippers from one script. That can be cleaner once everything is working.

Would you like me to write the final left close / right close / left open / right open scripts in their simplest ready-to-paste form?

ok, so I see a couple of issues during some testing. First, I did decide to use the two separate scripts (one for each gripper). Second, I forgot, since I am using a SSC32, it does not allow servo speed to work, I will have to move the gripper servos directly onto the EZB4 (D8 =Left, D8=right) for testing. Does the PC9685 servo controller allow for servo speed? Third, I realized that a I need the IR gripper sensor and the lever switch to be active after I have verbally requested either gripper to open up and stay active until the object has been grabbed.