HazelnutGripper.h

//
// Created by Romain Pouvreau on 14/04/2026.
//
 
#ifndef HAZELNUTGRIPPER_H
#define HAZELNUTGRIPPER_H
 
#include "GripperFinger.h"
 
namespace HazelnutGripper
{
    inline TwoWire GripperWire(PC9, PA8);;
    class Gripper
    {
    public:
        Gripper() = delete;

        static void init(uint8_t addr1 = 0x24, uint8_t addr2 = 0x25,
                         uint8_t addr3 = 0x26, uint8_t addr4 = 0x27);

        static void openAll();

        static void closeAll();

        static void setRotationAll(uint8_t degrees);

        static void spreadFingers(uint8_t degrees);

        static GripperFinger& getFinger(uint8_t index);
 
    private:
        static GripperFinger _fingers[4];
    };
}
 
#endif //HAZELNUTGRIPPER_H