vector = [1.0,0.0]



class GripperTool(RegisterBase):    
    def doRead(self):
        return 1.0 if robot.is_tool_open()  else 0.0

    def doWrite(self, val):
        if val:
            robot.open_tool()
        else:
            robot.close_tool()
        

add_device(GripperTool("gripper_tool"), True)


vscan(gripper_tool, [laser_distance,], vector, latency = 3, passes=50)