pyuarm Documentation - Read the Docs · PDF filepyuarm Documentation, Release 2.1.1 This...

pyuarm DocumentationRelease 2.1.1

Alex Tan

Jun 21, 2017

Contents

1 pyuarm 31.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.2 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.3 Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31.4 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 pyuarm API 52.1 Classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.2 Exception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.3 Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.4 Module Functions and attributes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Tools 113.1 pyuarm.tools.list_uarms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.2 pyuarm.tools.firmware.flash_firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.3 pyuarm.tools.calibration.calibrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

4 Examples 154.1 Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5 Indices and tables 17

Python Module Index 19

i

pyuarm Documentation, Release 2.1.1

This module encapsulates the operations for uArm. It provides basic Movement on Python. Also providesFirmware_helper and Calibration. The module named “pyuarm” makes the API more pythonic.

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 1

https://github.com/uArm-Developer/pyuarm

http://pypi.python.org/pypi/pyuarm

https://pyuarm.readthedocs.io/en/latest/


2 Contents

CHAPTER 1

pyuarm

Overview

This module encapsulates the operations for uArm. It provides basic Movement on Python. Also providesFirmware_helper and Calibration. The module named “pyuarm” makes the API more pythonic.

Other pages (online)

• project page on Github

• Download Page with releases

• This page, when viewed online is at https://pyuarm.readthedocs.io/en/latest/.

Features

• Auto uArm Port detection

• Provide firmware_helper, firmware upgrade online

• Provide Auto Calibration tool

Requirements

• Python 2.7x and Python 3.4x

• uArm Firmware ( uarm_helper firmware -d)

3

https://github.com/uArm-Developer/pyuarm


https://pyuarm.readthedocs.io/en/latest/


Installation

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.

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 direc-tory and run:

python setup.py install

4 Chapter 1. pyuarm


CHAPTER 2

pyuarm API

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. Oncereceived 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 ver-sion, 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 currentlocation

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:

5


get_servo_angle(servo_number=None)Get Current uArm Servo Angles include offset :param servo_number: if None, Return 4 servos CurrentAngles :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:

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 thebuzz, 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: :paramspeed: :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: EEP-ROM_DATA_TYPE_FLOAT, EEPROM_DATA_TYPE_INTEGER, EEPROM_DATA_TYPE_BYTE :re-turn:

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. Butmove 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 :re-turn: succeed True or Failed False

set_wrist(angle)Set uArm Hand Wrist Angle. Include servo offset. :param angle: :return:

6 Chapter 2. pyuarm API


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 printThere is no uArm port available

>>> import pyuarm>>> uarm = pyuarm.get_uarm()There is no uArm port available

Returns uArm() Instance

Exception

class pyuarm.util.UArmConnectException(errno, message=None)

Constants

TO-DO

Module Functions and attributes

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()

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, avr-dude_path=None)

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

2.2. Exception 7


pyuarm.tools.firmware.flash_firmware.uarm_ports(hardware_id=’USBVID:PID=0403:6001’)

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)

pyuarm.tools.calibration.calibrate.read_linear_offset(uarm)

pyuarm.tools.calibration.calibrate.read_manual_offset(uarm)

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. Pleaseconnect 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 unitmillimeter, 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 + L\n\nInput help for more usage’

prompt = ‘>>> ‘

ruler = ‘-‘

uarm = None

2.4. Module Functions and attributes 9

CHAPTER 3

Tools

pyuarm.tools.list_uarms

pyuarm.tools.list_uarms.main()

$ python -m pyuarm.tools.list_uarms/dev/cu.usbserial-A600CVS91 ports found

pyuarm.tools.firmware.flash_firmware

pyuarm.tools.firmware.flash_firmware.main(args)

pyuarm.tools.calibration.calibrate

pyuarm.tools.calibration.calibrate.main(args)

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.’

11


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. Pleaseconnect 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

12 Chapter 3. Tools


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 unitmillimeter, 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 + L\n\nInput help for more usage’

prompt = ‘>>> ‘

ruler = ‘-‘

uarm = None

3.3. pyuarm.tools.calibration.calibrate 13


14 Chapter 3. Tools

CHAPTER 4

Examples

Usage

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 uarmNone

• 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: 2.1.1Traceback (most recent call last):

File "<stdin>", line 1, in <module>File "/Users/alex/Worksapce/project/metal/python/pyuarm/pyuarm/uarm.py", line 35,

→˓in __init__

15


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.UArm(debug=True)pyuarm - INFO - pyuarm version: 2.1.1pyuarm - INFO - Connecting from port - /dev/cu.usbserial-A600CRE6...pyuarm - INFO - connected...pyuarm - DEBUG - Communication| [gVer] [SH2-2.1.4]pyuarm - INFO - Firmware Version: 2.1.4

Define the uArm port

>>> uarm = pyuarm.UArm(port_name='/dev/cu.usbserial-A600CRE6')pyuarm - INFO - pyuarm version: 2.1.1pyuarm - INFO - Connecting from port - /dev/cu.usbserial-A600CRE6...pyuarm - INFO - connected...pyuarm - 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']

16 Chapter 4. Examples

CHAPTER 5

Indices and tables

• genindex

• modindex

• search

17


18 Chapter 5. Indices and tables

Python Module Index

ppyuarm.tools.calibration.calibrate, 11pyuarm.tools.firmware.flash_firmware,

11pyuarm.tools.list_uarms, 11pyuarm.tools.miniterm, 11pyuarm.uarm, 5

19


20 Python Module Index

Index

Ccalibrate() (in module pyuarm.tools.calibration.calibrate),

8check_port_plug_in() (in module

pyuarm.tools.list_uarms), 7complete_pump() (pyuarm.tools.miniterm.UArmCmd

method), 8, 12complete_servo() (pyuarm.tools.miniterm.UArmCmd

method), 8, 12connect() (pyuarm.tools.miniterm.UArmCmd method), 8,

12connect() (pyuarm.uarm.UArm method), 5

Ddefault() (pyuarm.tools.miniterm.SerialMode method), 8,

11disconnect() (pyuarm.uarm.UArm method), 5do_alert() (pyuarm.tools.miniterm.UArmCmd method),

8, 12do_connect() (pyuarm.tools.miniterm.UArmCmd

method), 8, 12do_disconnect() (pyuarm.tools.miniterm.UArmCmd

method), 8, 12do_EOF() (pyuarm.tools.miniterm.SerialMode method),

8, 11do_EOF() (pyuarm.tools.miniterm.UArmCmd method),

8, 12do_get_angle() (pyuarm.tools.miniterm.UArmCmd

method), 8, 12do_get_position() (pyuarm.tools.miniterm.UArmCmd

method), 9, 12do_help() (pyuarm.tools.miniterm.UArmCmd method),

9, 12do_pump() (pyuarm.tools.miniterm.UArmCmd method),

9, 12do_quit() (pyuarm.tools.miniterm.SerialMode method),

8, 11do_quit() (pyuarm.tools.miniterm.UArmCmd method), 9,

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.UArmCmdmethod), 9, 12

do_set_position() (pyuarm.tools.miniterm.UArmCmdmethod), 9, 13

do_sim() (pyuarm.tools.miniterm.UArmCmd method), 9,13

do_sp() (pyuarm.tools.miniterm.UArmCmd method), 9,13

download() (in modulepyuarm.tools.firmware.flash_firmware), 7

download_firmware() (pyuarm.tools.firmware.flash_firmware.FlashFirmwaremethod), 7

Eexit_fun() (in module pyuarm.tools.calibration.calibrate),

8exit_fun() (in module pyuarm.tools.firmware.flash_firmware),

7

FFIRMWARE (pyuarm.tools.miniterm.UArmCmd at-

tribute), 8, 12firmware_version (pyuarm.uarm.UArm attribute), 5flash() (in module pyuarm.tools.firmware.flash_firmware),

7flash_firmware() (pyuarm.tools.firmware.flash_firmware.FlashFirmware

method), 7FlashFirmware (class in

pyuarm.tools.firmware.flash_firmware), 7

Ggen_flash_cmd() (in module

pyuarm.tools.firmware.flash_firmware), 7get_analog() (pyuarm.uarm.UArm method), 5get_digital() (pyuarm.uarm.UArm method), 5

21


get_firmware_version() (pyuarm.uarm.UArm method), 5get_hardware_version() (pyuarm.uarm.UArm method), 5get_port_property() (in module pyuarm.tools.list_uarms),

7get_position() (pyuarm.uarm.UArm method), 5get_rom_data() (pyuarm.uarm.UArm method), 5get_serial_line() (in module

pyuarm.tools.calibration.calibrate), 8get_servo_angle() (pyuarm.uarm.UArm method), 5get_simulation() (pyuarm.uarm.UArm method), 6get_sn_number() (pyuarm.uarm.UArm method), 6get_tip_sensor() (pyuarm.uarm.UArm method), 6get_uarm() (in module pyuarm.uarm), 6get_uarm_port_cli() (in module

pyuarm.tools.firmware.flash_firmware), 7get_uarm_port_cli() (in module pyuarm.tools.list_uarms),

7

Hhardware_version (pyuarm.uarm.UArm attribute), 6help_msg (pyuarm.tools.miniterm.UArmCmd attribute),

9, 13

Iintro (pyuarm.tools.miniterm.SerialMode attribute), 8, 11intro (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13is_connected() (pyuarm.uarm.UArm method), 6is_moving() (pyuarm.uarm.UArm method), 6is_ready() (pyuarm.uarm.UArm method), 6

Mmain() (in module pyuarm.tools.calibration.calibrate), 11main() (in module pyuarm.tools.firmware.flash_firmware),

11main() (in module pyuarm.tools.list_uarms), 11

OON_OFF (pyuarm.tools.miniterm.UArmCmd attribute),

8, 12

Pprompt (pyuarm.tools.miniterm.SerialMode attribute), 8,

11prompt (pyuarm.tools.miniterm.UArmCmd attribute), 9,

13pyuarm.tools.calibration.calibrate (module), 8, 11pyuarm.tools.firmware.flash_firmware (module), 7, 11pyuarm.tools.list_uarms (module), 7, 11pyuarm.tools.miniterm (module), 8, 11pyuarm.uarm (module), 5

Rread_completed_flag() (in module

pyuarm.tools.calibration.calibrate), 8

read_linear_offset() (in modulepyuarm.tools.calibration.calibrate), 8

read_manual_offset() (in modulepyuarm.tools.calibration.calibrate), 8

resourcePath() (in modulepyuarm.tools.firmware.flash_firmware), 7

ruler (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13

SSerialMode (class in pyuarm.tools.miniterm), 8, 11SERVO_STATUS (pyuarm.tools.miniterm.UArmCmd at-

tribute), 8, 12set_buzzer() (pyuarm.uarm.UArm method), 6set_gripper() (pyuarm.uarm.UArm method), 6set_position() (pyuarm.uarm.UArm method), 6set_pump() (pyuarm.uarm.UArm method), 6set_rom_data() (pyuarm.uarm.UArm method), 6set_servo_angle() (pyuarm.uarm.UArm method), 6set_servo_attach() (pyuarm.uarm.UArm method), 6set_servo_detach() (pyuarm.uarm.UArm method), 6set_wrist() (pyuarm.uarm.UArm method), 6

UUArm (class in pyuarm.uarm), 5uarm (pyuarm.tools.miniterm.SerialMode attribute), 8, 12uarm (pyuarm.tools.miniterm.UArmCmd attribute), 9, 13uarm_ports() (in module

pyuarm.tools.firmware.flash_firmware), 7uarm_ports() (in module pyuarm.tools.list_uarms), 7UArmCmd (class in pyuarm.tools.miniterm), 8, 12UArmConnectException (class in pyuarm.util), 7

22 Index

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