# iSWAP Module

The `R0` module allows fine grained control of the iSWAP gripper.

## Rotations

You can rotate the iSWAP to 12 predifined positions using `iswap_rotate`

the positions and their corresponding integer specifications are shown visually here.

![alt text](iswap_positions.png)

For example to extend the iSWAP fully to the left, the position parameter to `iswap_rotate` would be `12`