pyuarm Documentation Release 2.1.1
Alex Tan
December 17, 2016
Contents
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pyuarm API 2.1 Classes . . . . . . . . . . . . . 2.2 Exception . . . . . . . . . . . . 2.3 Constants . . . . . . . . . . . . 2.4 Module Functions and attributes
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Tools 3.1 pyuarm.tools.list_uarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2 pyuarm.tools.firmware.flash_firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 pyuarm.tools.calibration.calibrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Examples 4.1 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Indices and tables
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Python Module Index
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pyuarm 1.1 Overview . . 1.2 Features . . . 1.3 Requirements 1.4 Installation .
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pyuarm Documentation, Release 2.1.1
This module encapsulates the operations for uArm. It provides basic Movement on Python. Firmware_helper and Calibration. The module named “pyuarm” makes the API more pythonic.
Also provides
Other pages (online) • project page on Github • Download Page with releases • This page, when viewed online is at https://pyuarm.readthedocs.io/en/latest/. Contents:
Contents
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pyuarm Documentation, Release 2.1.1
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Contents
CHAPTER 1
pyuarm
1.1 Overview This module encapsulates the operations for uArm. It provides basic Movement on Python. Firmware_helper and Calibration. The module named “pyuarm” makes the API more pythonic.
Also provides
Other pages (online) • project page on Github • Download Page with releases • This page, when viewed online is at https://pyuarm.readthedocs.io/en/latest/.
1.2 Features • Auto uArm Port detection • Provide firmware_helper, firmware upgrade online • Provide Auto Calibration tool
1.3 Requirements • Python 2.7x and Python 3.4x • uArm Firmware ( uarm_helper firmware -d)
1.4 Installation 1.4.1 pyuarm This install a package that can be used from Python (import pyuarm). To install for all users on the system, administrator rights (root) may be required.
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pyuarm Documentation, Release 2.1.1
From PyPI pyuarm can be installed from PyPI, either manually downloading the files and installing as described below or using: pip install pyuarm
From source (tar.gz or checkout) Download the archive from http://pypi.python.org/pypi/pyuarm. Unpack the archive, enter the pyuarm-x.y directory and run: python setup.py install
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Chapter 1. pyuarm
CHAPTER 2
pyuarm API
2.1 Classes class pyuarm.uarm.UArm(port_name=None, logger=None, debug=False) Bases: object connect() This function will open the port immediately. Function will wait for the READY Message for 5 secs. Once received READY message, Function will send the Version search command. :return: disconnect() disconnect will release/close the uarm port :return: firmware_version = None get_analog(pin) Get Analog Value from specific PIN :param pin: :return: get_digital(pin) get_firmware_version() Get the firmware version. Protocol Cmd: protocol.GET_FIRMWARE_VERSION :return: firmware version, if failed return False get_hardware_version() Get the Product version. Protocol Cmd: protocol.GET_HARDWARE_VERSION :return: firmware version, if failed return False get_position() Get Current uArm position (x,y,z) mm :return: Returns an array of the format [x, y, z] of the robots current location get_rom_data(address, data_type=1) Get DATA From EEPROM :param address: 0 - 2048 :param data_type: EEPROM_DATA_TYPE_FLOAT, EEPROM_DATA_TYPE_INTEGER, EEPROM_DATA_TYPE_BYTE :return: get_servo_angle(servo_number=None) Get Current uArm Servo Angles include offset :param servo_number: if None, Return 4 servos Current Angles :return: Returns an angle in degrees, of the servo get_simulation(x, y, z) validate the coordinate (x,y,z) if it can be reached or not. :param x: :param y: :param z: :return: get_sn_number() Get Serial Number :return:
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get_tip_sensor() Get Status from Tip Sensor :return: True On/ False Off hardware_version = None is_connected() is_connected will return the uarm connected status :return: connected status is_moving() Detect is uArm moving :return: Returns a 0 or a 1, depending on whether or not the robot is moving. is_ready() set_buzzer(frequency, duration) Turn on the uArm Buzzer :param frequency: The frequency, in Hz :param duration: The duration of the buzz, in seconds :return: set_gripper(catch) Turn On/Off Gripper :param catch: True On/ False Off :return: set_position(x, y, z, speed=300, relative=False, wait=False) Move uArm to the position (x,y,z) unit is mm, speed unit is mm/sec :param x: :param y: :param z: :param speed: :return: set_pump(ON) Control uArm Pump On or OFF :param ON: True On, False OFF :return: succeed True or Failed False set_rom_data(address, data, data_type=1) Set DATA to EEPROM :param address: 0 - 2048 :param data: Value :param data_type: EEPROM_DATA_TYPE_FLOAT, EEPROM_DATA_TYPE_INTEGER, EEPROM_DATA_TYPE_BYTE :return: set_servo_angle(servo_number, angle) Set uArm Servo Angle, 0 - 180 degrees, this Function will include the manual servo offset. :param servo_number: lease reference protocol.py SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND :param angle: 0 - 180 degrees :return: succeed True or Failed False set_servo_attach(servo_number=None) Set Servo status attach, Servo Attach will lock the servo, You can’t move uArm with your hands. :param servo_number: If None, will attach all servos, please reference protocol.py SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND :return: succeed True or Failed False set_servo_detach(servo_number=None) Set Servo status detach, Servo Detach will unlock the servo, You can move uArm with your hands. But move function won’t be effect until you attach. :param servo_number: If None, will detach all servos, please reference protocol.py SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND :return: succeed True or Failed False set_wrist(angle) Set uArm Hand Wrist Angle. Include servo offset. :param angle: :return: pyuarm.uarm.get_uarm(logger=None) It will return the first uArm Port detected by pyuarm.tools.list_uarms, If no available uArm ports, will print There is no uArm port available >>> import pyuarm >>> uarm = pyuarm.get_uarm() There is no uArm port available
Returns uArm() Instance
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Chapter 2. pyuarm API
pyuarm Documentation, Release 2.1.1
2.2 Exception class pyuarm.util.UArmConnectException(errno, message=None)
2.3 Constants TO-DO
2.4 Module Functions and attributes 2.4.1 pyuarm.tools.list_uarms pyuarm.tools.list_uarms.check_port_plug_in(serial_id) pyuarm.tools.list_uarms.get_port_property(port_name) pyuarm.tools.list_uarms.get_uarm_port_cli() pyuarm.tools.list_uarms.uarm_ports()
2.4.2 pyuarm.tools.firmware.flash_firmware class pyuarm.tools.firmware.flash_firmware.FlashFirmware download_firmware() flash_firmware() pyuarm.tools.firmware.flash_firmware.download(url, filepath) pyuarm.tools.firmware.flash_firmware.exit_fun() pyuarm.tools.firmware.flash_firmware.flash(port, firmware_path, avrdude_path=None) pyuarm.tools.firmware.flash_firmware.gen_flash_cmd(port, firmware_path, dude_path=None)
avr-
pyuarm.tools.firmware.flash_firmware.get_uarm_port_cli() pyuarm.tools.firmware.flash_firmware.resourcePath(relative_path) Get absolute path to resource, works for dev and for PyInstaller pyuarm.tools.firmware.flash_firmware.uarm_ports(hardware_id=’USB VID:PID=0403:6001’)
2.4.3 pyuarm.tools.calibration.calibrate pyuarm.tools.calibration.calibrate.calibrate(port_name) pyuarm.tools.calibration.calibrate.exit_fun() pyuarm.tools.calibration.calibrate.get_serial_line(sp) pyuarm.tools.calibration.calibrate.read_completed_flag(uarm, flag_type)
2.2. Exception
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pyuarm.tools.calibration.calibrate.read_linear_offset(uarm) pyuarm.tools.calibration.calibrate.read_manual_offset(uarm)
2.4.4 pyuarm.tools.miniterm class pyuarm.tools.miniterm.SerialMode(uarm) Bases: cmd.Cmd default(line) do_EOF(args) do_quit(args) intro = ‘Welcome to Serial Mode.’ prompt = ‘Serial >>> ‘ uarm = None class pyuarm.tools.miniterm.UArmCmd(port=None, debug=False, *args, **kwargs) Bases: cmd.Cmd FIRMWARE = [’version’, ‘force’, ‘upgrade’] ON_OFF = [’on’, ‘off’] SERVO_STATUS = [’attach’, ‘detach’] complete_pump(text, line, begidx, endidx) complete_servo(text, line, begidx, endidx) connect(port=None, debug=False) connect uArm. :param port: :return: do_EOF(args) Quit, if uarm is connected, will disconnect before quit do_alert(arg) alert control buzzer format: alert frequency duration eg. alert 1 1 do_connect(arg) connect, Open uArm Port, if more than one uArm Port found, will prompt options to choose. Please connect to uArm before you do any control action do_disconnect(arg) disconnect, Release uarm port. do_get_angle(arg) get_angle Read current servo angle. format: read_angle servo_number servo_number: 0 bottom servo, 1 left servo, 2 right servo, if no servo_number provide, will list all servos angle eg. >>> get_angle Current Servo Angles: b:17.97, l:112.72, r:17.97, h:151.14 do_get_position(arg) get_position get current coordinate do_help(arg) do_pump(arg) pump turn on/off pump
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do_quit(args) Quit, if uarm is connected, will disconnect before quit do_serial(arg) Raw Serial Mode You could direct input the communication protocol here. do_servo(arg) Servo status format: servo attach servo_number servo detach servo_number servo_number: 0 bottom servo, 1 left servo, 2 right servo, 3 hand servo all eg. servo attach all servo detach all do_set_angle(arg) set_angle format: write_angle servo_number angle servo_number: 0 bottom servo, 1 left servo, 2 right servo, 3 hand servo eg. >>> set_angle 0 90 succeed do_set_position(arg) set_position, move to destination coordinate. format: set_position X Y Z or move_to X Y Z S X,Y,Z unit millimeter, S means Speed, unit mm/s eg. set_position 100 200 150 do_sim(arg) sim format: sim X Y Z validate the coordinate. eg. sim 100 200 100 succeed do_sp(args) same with set_position help_msg = ‘Shortcut:\nQuit: Ctrl + D, or input: quit\nClear Screen: Ctrl + L’
intro = ‘Welcome to use uArm Command Line - v0.1.4\nShortcut:\nQuit: Ctrl + D, or input: quit\nClear Screen: Ctrl + prompt = ‘>>> ‘ ruler = ‘-‘ uarm = None
2.4. Module Functions and attributes
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Chapter 2. pyuarm API
CHAPTER 3
Tools
3.1 pyuarm.tools.list_uarms pyuarm.tools.list_uarms.main() $ python -m pyuarm.tools.list_uarms /dev/cu.usbserial-A600CVS9 1 ports found
3.2 pyuarm.tools.firmware.flash_firmware pyuarm.tools.firmware.flash_firmware.main(args)
3.3 pyuarm.tools.calibration.calibrate pyuarm.tools.calibration.calibrate.main(args)
3.3.1 pyuarm.tools.miniterm class pyuarm.tools.miniterm.SerialMode(uarm) Bases: cmd.Cmd default(line) do_EOF(args) do_quit(args) intro = ‘Welcome to Serial Mode.’ prompt = ‘Serial >>> ‘ uarm = None class pyuarm.tools.miniterm.UArmCmd(port=None, debug=False, *args, **kwargs) Bases: cmd.Cmd FIRMWARE = [’version’, ‘force’, ‘upgrade’]
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ON_OFF = [’on’, ‘off’] SERVO_STATUS = [’attach’, ‘detach’] complete_pump(text, line, begidx, endidx) complete_servo(text, line, begidx, endidx) connect(port=None, debug=False) connect uArm. :param port: :return: do_EOF(args) Quit, if uarm is connected, will disconnect before quit do_alert(arg) alert control buzzer format: alert frequency duration eg. alert 1 1 do_connect(arg) connect, Open uArm Port, if more than one uArm Port found, will prompt options to choose. Please connect to uArm before you do any control action do_disconnect(arg) disconnect, Release uarm port. do_get_angle(arg) get_angle Read current servo angle. format: read_angle servo_number servo_number: 0 bottom servo, 1 left servo, 2 right servo, if no servo_number provide, will list all servos angle eg. >>> get_angle Current Servo Angles: b:17.97, l:112.72, r:17.97, h:151.14 do_get_position(arg) get_position get current coordinate do_help(arg) do_pump(arg) pump turn on/off pump do_quit(args) Quit, if uarm is connected, will disconnect before quit do_serial(arg) Raw Serial Mode You could direct input the communication protocol here. do_servo(arg) Servo status format: servo attach servo_number servo detach servo_number servo_number: 0 bottom servo, 1 left servo, 2 right servo, 3 hand servo all eg. servo attach all servo detach all do_set_angle(arg) set_angle format: write_angle servo_number angle servo_number: 0 bottom servo, 1 left servo, 2 right servo, 3 hand servo eg. >>> set_angle 0 90 succeed do_set_position(arg) set_position, move to destination coordinate. format: set_position X Y Z or move_to X Y Z S X,Y,Z unit millimeter, S means Speed, unit mm/s eg. set_position 100 200 150
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do_sim(arg) sim format: sim X Y Z validate the coordinate. eg. sim 100 200 100 succeed do_sp(args) same with set_position help_msg = ‘Shortcut:\nQuit: Ctrl + D, or input: quit\nClear Screen: Ctrl + L’
intro = ‘Welcome to use uArm Command Line - v0.1.4\nShortcut:\nQuit: Ctrl + D, or input: quit\nClear Screen: Ctrl + prompt = ‘>>> ‘ ruler = ‘-‘ uarm = None
3.3. pyuarm.tools.calibration.calibrate
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Chapter 3. Tools
CHAPTER 4
Examples
4.1 Usage 4.1.1 Initialize uArm There are two methods to Initialize uArm. • Use get_uarm() >>> import pyuarm >>> uarm = pyuarm.get_uarm() Firmware Version: 2.1.4
if no uArm connected, will return None and display “There is no uArm Port available” >>> import pyuarm >>> uarm = pyuarm.get_uarm() There is no uArm port available >>> print uarm None
• Use uArm() >>> import pyuarm >>> uarm = pyuarm.UArm() Firmware Version: 2.1.4
If no uArm connected, will raise UArmConnectException. >>> uarm = pyuarm.UArm() pyuarm - INFO - pyuarm version: 2.1.1 Traceback (most recent call last): File "", line 1, in File "/Users/alex/Worksapce/project/metal/python/pyuarm/pyuarm/uarm.py", line 35, in __init__ raise UArmConnectException(0, "No uArm ports is found.") pyuarm.util.UArmConnectException: 'Unable to connect uArm-No uArm ports is found.'
You could turn on Debug Mode >>> uarm pyuarm pyuarm pyuarm -
= pyuarm.UArm(debug=True) INFO - pyuarm version: 2.1.1 INFO - Connecting from port - /dev/cu.usbserial-A600CRE6... INFO - connected...
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pyuarm Documentation, Release 2.1.1
pyuarm - DEBUG - Communication| [gVer] pyuarm - INFO - Firmware Version: 2.1.4
[SH2-2.1.4]
Define the uArm port >>> uarm pyuarm pyuarm pyuarm pyuarm -
= pyuarm.UArm(port_name='/dev/cu.usbserial-A600CRE6') INFO - pyuarm version: 2.1.1 INFO - Connecting from port - /dev/cu.usbserial-A600CRE6... INFO - connected... INFO - Firmware Version: 2.1.4
Movement >>> uarm.set_position(150, 150, 150) #default speed is 300 mm/sec >>> uarm.set_position(150, 150, 150, 100) ### set position in 100 mm/sec
Current Positions >>> uarm.get_position() # Get Current position [354.62, 0.0, 90.0]
Pump control >>> uarm.set_pump(True) ### Pump On >>> uarm.set_pump(False) ### Pump Off
Others • List uArm Ports >>> from pyuarm.tools.list_uarms import uarm_ports >>> uarm_ports() ['/dev/cu.usbserial-A600CRE6']
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Chapter 4. Examples
CHAPTER 5
Indices and tables
• genindex • modindex • search
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Chapter 5. Indices and tables
Python Module Index
p pyuarm.tools.calibration.calibrate, 11 pyuarm.tools.firmware.flash_firmware, 11 pyuarm.tools.list_uarms, 11 pyuarm.tools.miniterm, 11 pyuarm.uarm, 5
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Python Module Index
Index
C calibrate() (in module pyuarm.tools.calibration.calibrate), 7 check_port_plug_in() (in module pyuarm.tools.list_uarms), 7 complete_pump() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 complete_servo() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 connect() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 connect() (pyuarm.uarm.UArm method), 5
D default() (pyuarm.tools.miniterm.SerialMode method), 8, 11 disconnect() (pyuarm.uarm.UArm method), 5 do_alert() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_connect() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_disconnect() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_EOF() (pyuarm.tools.miniterm.SerialMode method), 8, 11 do_EOF() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_get_angle() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_get_position() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_help() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_pump() (pyuarm.tools.miniterm.UArmCmd method), 8, 12 do_quit() (pyuarm.tools.miniterm.SerialMode method), 8, 11 do_quit() (pyuarm.tools.miniterm.UArmCmd method), 8, 12
do_serial() (pyuarm.tools.miniterm.UArmCmd method), 9, 12 do_servo() (pyuarm.tools.miniterm.UArmCmd method), 9, 12 do_set_angle() (pyuarm.tools.miniterm.UArmCmd method), 9, 12 do_set_position() (pyuarm.tools.miniterm.UArmCmd method), 9, 12 do_sim() (pyuarm.tools.miniterm.UArmCmd method), 9, 12 do_sp() (pyuarm.tools.miniterm.UArmCmd method), 9, 13 download() (in module pyuarm.tools.firmware.flash_firmware), 7 download_firmware() (pyuarm.tools.firmware.flash_firmware.FlashFirmwar method), 7
E exit_fun() (in module pyuarm.tools.calibration.calibrate), 7 exit_fun() (in module pyuarm.tools.firmware.flash_firmware), 7
F FIRMWARE (pyuarm.tools.miniterm.UArmCmd attribute), 8, 11 firmware_version (pyuarm.uarm.UArm attribute), 5 flash() (in module pyuarm.tools.firmware.flash_firmware), 7 flash_firmware() (pyuarm.tools.firmware.flash_firmware.FlashFirmware method), 7 FlashFirmware (class in pyuarm.tools.firmware.flash_firmware), 7
G gen_flash_cmd() (in module pyuarm.tools.firmware.flash_firmware), 7 get_analog() (pyuarm.uarm.UArm method), 5 get_digital() (pyuarm.uarm.UArm method), 5 get_firmware_version() (pyuarm.uarm.UArm method), 5
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get_hardware_version() (pyuarm.uarm.UArm method), 5 get_port_property() (in module pyuarm.tools.list_uarms), 7 get_position() (pyuarm.uarm.UArm method), 5 get_rom_data() (pyuarm.uarm.UArm method), 5 get_serial_line() (in module pyuarm.tools.calibration.calibrate), 7 get_servo_angle() (pyuarm.uarm.UArm method), 5 get_simulation() (pyuarm.uarm.UArm method), 5 get_sn_number() (pyuarm.uarm.UArm method), 5 get_tip_sensor() (pyuarm.uarm.UArm method), 5 get_uarm() (in module pyuarm.uarm), 6 get_uarm_port_cli() (in module pyuarm.tools.firmware.flash_firmware), 7 get_uarm_port_cli() (in module pyuarm.tools.list_uarms), 7
read_linear_offset() (in module pyuarm.tools.calibration.calibrate), 7 read_manual_offset() (in module pyuarm.tools.calibration.calibrate), 8 resourcePath() (in module pyuarm.tools.firmware.flash_firmware), 7 ruler (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13
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intro (pyuarm.tools.miniterm.SerialMode attribute), 8, 11 intro (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13 is_connected() (pyuarm.uarm.UArm method), 6 is_moving() (pyuarm.uarm.UArm method), 6 is_ready() (pyuarm.uarm.UArm method), 6
UArm (class in pyuarm.uarm), 5 uarm (pyuarm.tools.miniterm.SerialMode attribute), 8, 11 uarm (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13 uarm_ports() (in module pyuarm.tools.firmware.flash_firmware), 7 uarm_ports() (in module pyuarm.tools.list_uarms), 7 UArmCmd (class in pyuarm.tools.miniterm), 8, 11 UArmConnectException (class in pyuarm.util), 7
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SerialMode (class in pyuarm.tools.miniterm), 8, 11 SERVO_STATUS (pyuarm.tools.miniterm.UArmCmd attribute), 8, 12 set_buzzer() (pyuarm.uarm.UArm method), 6 set_gripper() (pyuarm.uarm.UArm method), 6 set_position() (pyuarm.uarm.UArm method), 6 set_pump() (pyuarm.uarm.UArm method), 6 set_rom_data() (pyuarm.uarm.UArm method), 6 H set_servo_angle() (pyuarm.uarm.UArm method), 6 hardware_version (pyuarm.uarm.UArm attribute), 6 set_servo_attach() (pyuarm.uarm.UArm method), 6 help_msg (pyuarm.tools.miniterm.UArmCmd attribute), set_servo_detach() (pyuarm.uarm.UArm method), 6 9, 13 set_wrist() (pyuarm.uarm.UArm method), 6
M main() (in module pyuarm.tools.calibration.calibrate), 11 main() (in module pyuarm.tools.firmware.flash_firmware), 11 main() (in module pyuarm.tools.list_uarms), 11
O ON_OFF (pyuarm.tools.miniterm.UArmCmd attribute), 8, 11
P prompt (pyuarm.tools.miniterm.SerialMode attribute), 8, 11 prompt (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13 pyuarm.tools.calibration.calibrate (module), 7, 11 pyuarm.tools.firmware.flash_firmware (module), 7, 11 pyuarm.tools.list_uarms (module), 7, 11 pyuarm.tools.miniterm (module), 8, 11 pyuarm.uarm (module), 5
R read_completed_flag() (in pyuarm.tools.calibration.calibrate), 7
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module
Index
