async def METHOD_NAME(messenger: CanMessenger) -> None:
    """Run the for test."""
    print("Gripper testing begins... \n")
    pwm_duty = prompt_int_input("PWM duty cycle in % (int)")
    lm_target = prompt_int_input("Linear move target in um % (int)")
    """Setup gripper"""
    try:
        await set_pwm_param(messenger, pwm_duty)
        for i, v in enumerate(vref_list):
            await set_reference_voltage(messenger, v)
            output_details(i, pwm_duty, v)
            input(in_green("Press Enter to grip...\n"))
            await grip(messenger, 0, 0, 0, 0)
            await execute_move(messenger)
            input(in_green("Press Enter to release...\n"))
            await home(messenger, 0, 0, 0)
            await execute_move(messenger)
            input(in_green("press enter to move...\n"))
            await move(messenger, 0, 0, 0, lm_target)
            await execute_move(messenger)
            input(in_green("HOLD\n"))
    except asyncio.CancelledError:
        pass
    finally:
        print("\nTesting finishes...\n")
        await messenger.send(node_id=NodeId.gripper, message=DisableMotorRequest())