14 r820 cobot connect with gripper Digital I/0

package tool;

import javax.inject.Inject;

import com.kuka.generated.ioAccess.MediaFlangeIOGroup;
import com.kuka.roboticsAPI.geometricModel.Tool;
import com.kuka.roboticsAPI.ioModel.Input;

public final class Gripper extends Tool {
	@Inject	private MediaFlangeIOGroup mediaFlange;
	
	public Gripper(String name) {
		super(name);
	}
	

	public Input getGripperOpenedInput() {
		return mediaFlange.getInput("InputX3Pin3");
	}

	public Input getGripperClosedWithoutPartInput() {
		return mediaFlange.getInput("InputX3Pin10");
	}

	public Input getGripperClosedWithPartInput() {
		return mediaFlange.getInput("InputX3Pin13");
	}
	
	
	public void openGripper(){
		mediaFlange.setOutputX3Pin1(true);
	}
	
	public void closeGripper(){
		mediaFlange.setOutputX3Pin1(false);
	}

	public void teachGripper(boolean state) {
		mediaFlange.setOutputX3Pin11(state);
	}
	

	public boolean isGripperOpened() {
		return mediaFlange.getInputX3Pin3();
	}

	public boolean isGripperClosedWithoutPart() {
		return mediaFlange.getInputX3Pin10();
	}

	public boolean isGripperClosedWithPart() {
		return mediaFlange.getInputX3Pin13();
	}

	public boolean isGripperClosed() {
		return isGripperClosedWithoutPart() || isGripperClosedWithPart();
	}

	
	public boolean isOpenCommandPending() {
		return mediaFlange.getOutputX3Pin1() && !isGripperOpened();
	}
	
	public boolean isCloseCommandPending() {
		return !mediaFlange.getOutputX3Pin1() && !isGripperClosed();
	}
	
	public boolean isGripperCommandPending() {
		return isOpenCommandPending() || isCloseCommandPending();
	}


	public boolean isError() {
		return mediaFlange.getInputX3Pin16();
	}

}

package application;

import javax.inject.Inject;
import javax.inject.Named;

import com.kuka.roboticsAPI.applicationModel.RoboticsAPIApplication;
import static com.kuka.roboticsAPI.motionModel.BasicMotions.*;

import com.kuka.roboticsAPI.deviceModel.JointPosition;
import com.kuka.roboticsAPI.deviceModel.LBR;
import com.kuka.roboticsAPI.geometricModel.Tool;

/**
 * Implementation of a robot application to open and close the gripper.
 * The application provides a basic lifecycle structure and interacts with the gripper.
 */
public class OpenCloseGripper extends RoboticsAPIApplication {
    @Inject
    private LBR arnold;

    @Inject
    @Named("Gripper")
    private Tool gripper;


    private boolean isGripperOpen = false;

    @Override
    public void initialize() {
        gripper.attachTo(arnold.getFlange());
        getLogger().info("Gripper attached to the robot flange.");
    }

	private void sleepForSeconds(int seconds) {
	    try {
	        Thread.sleep(seconds * 1000);
	    } catch (InterruptedException e) {
	        Thread.currentThread().interrupt();
	        getLogger().error("Interrupted during sleep: " + e.getMessage());
	    }
	}
    
    @Override
    public void run() {
        for (int i = 0; i < 5; i++) {
            if (isGripperOpen) {
                closeGripper();
            } else {
                openGripper();
            }
            isGripperOpen = !isGripperOpen;
            sleepForSeconds(5);
        }
    }

    private void openGripper() {
    	// Gripper Logic
        getLogger().info("Opening the gripper...");
        
    }

    private void closeGripper() {
        // Gripper Logic
        getLogger().info("Closing the gripper...");
    }
}