Examples¶

>>> import pyuarm
>>> arm = pyuarm.UArm(port_name='/dev/cu.usbserial-A600CRJU')
pyuarm - INFO - pyuarm version: 2.4.0.7
>>> arm.set_pump(True)
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "pyuarm/uarm.py", line 610, in set_pump
    self.__send_msg(command)
  File "pyuarm/uarm.py", line 311, in __send_msg
    raise UArmConnectException(4)
pyuarm.util.UArmConnectException: 'uArm is not connected-'

>>> arm.connect()
pyuarm - INFO - Connecting from port - /dev/cu.usbserial-A600CRJU...

>>> arm.disconnect()
pyuarm - ERROR - Receive Process Error - read failed: (9, 'Bad file descriptor')
pyuarm - INFO - Disconnect from /dev/cu.usbserial-A600CRJU

>>> arm.close()

>>> arm.set_position(150, 150, 150) # Move to (150, 150, 150) at speed 300 mm/min
>>> arm.set_position(150, 150, 150, speed=100) # Move to (150, 150, 150) at 100 mm/min
>>> arm.set_position(x=20, speed=100, relative=True)  # Move (20, 0, 0) at 100 mm/min
>>> arm.set_position(150, 150, 150, wait=True) # wait=True will block until uArm finish moving

>>> arm.get_position() # Get Current position, will return a position array
[-2.74, 140.88, 151.0]

>>> arm.set_pump(True) ### Pump On
>>> arm.set_pump(False) ### Pump
>>> arm.set_pump(True, wait=True) # This will block until finish the pump
>>> arm.set_gripper(True) # Same as Pump Control

>>> arm.set_servo_attach() # This will attach all servos

>>> from pyuarm import SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND
>>> arm.set_servo_attach(servo_num=SERVO_BOTTOM) # This will only attach SERVO_BOTTOM

>>> arm.set_servo_attach(move=True) # if Move is True, servo will set will attach in current angle, if not, servo will set to last detach angle

>>> arm.set_servo_attach(move=True, wait=True) # wait is True will block until finish moving

>>> arm.set_servo_detach() # This will detach all servos

>>> from pyuarm import SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND
>>> arm.set_servo_detach(servo_num=SERVO_BOTTOM) # This will only detach SERVO_BOTTOM

>>> arm.set_servo_detach(wait=True) # wait is True will block until finish detaching

>>> arm.set_report_position(0.2) # uArm will report current position in 0.2 sec
>>> arm.set_servo_detach() # you could try with servo detach to watch the position
>>> arm.get_report_position() # all position will store in a LIFO (Last In First Out) queue

arm.set_servo_detach()
start_time = time.time()
while (time.time() - start_time) < 60:
    print (arm.get_report_position())

>>> arm.close_report_position() # turn of position report
>>> arm.set_report_position(0) # same as close report

>>> from pyuarm.tools.list_uarms import uarm_ports
>>> uarm_ports()
['/dev/cu.usbserial-A600CRE6']