This is the LEGO® Mindstorms EV3 Gripp3r Robot example program in the Java programming language that uses a Java Implementation of LEGO® Mindstorms EV3 Programming Blocks (icons) on LeJOS EV3.
You can find the building instructions and the LEGO® icon-based program of the Gripp3r Robot in the LEGO® icon based (LabView-based) Programming Environment (Home Edition). You can download the LEGO® Programming Environment at https://www.lego.com/en-us/mindstorms/downloads/download-software (or one of the other language pages).
You can also find the building instructions of the Gripp3r robot at https://www.lego.com/en-us/mindstorms/build-a-robot/gripp3r (or one of the other language pages).
Note: The original Gripp3r mission 4 uses the touch sensor to close or open the gripper part of the robot. Instead of the Touch Sensor, I use the top (beacon) button of the remote control to switch from the default move-around mode to the gripper movements: press the beacon button and then one of the upper buttons to open or close the gripper part.
This project depends on the Le2LeJosEv3 Library (see https://github.com/robl0377/Le2LeJosEv3) that sits on top of the current version of the LeJOS EV3 framework. Please add the JAR file of the Le2LeJosEv3 Library (le2lejosev3.jar) into this project's classpath before running it. The LeJOS Eclipse plugin will take care of the transfer of the library and the program JAR files to the EV3 brick..
In this project I am using the LeJOS EV3 v0.9.1beta framework (see https://sourceforge.net/projects/ev3.lejos.p/) and a standard LEGO® Mindstorms EV3 Brick.
The programs play sound sample files during movements of the gripper part of the robot. You can download them from: http://tastyspleen.net/~quake2/baseq2/sound/world/airhiss1.wav and http://tastyspleen.net/~quake2/baseq2/sound/world/airhiss2.wav Please copy these sound files (via SCP) to the directory /home/lejos/lib on EV3 Brick before running the program.
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