ToolsΒΆ

pyuarm provides some tools for developer.

  • list_uarms, you could filter the uArm Ports from system easily
$python -m pyuarm.tools.list_uarms
/dev/cu.usbserial-A600CRJU
1 ports found

Here is the example use in code. It will return the first port scanned in your system.

def get_uarm():
    ports = uarm_ports()
    if len(ports) > 0:
        return UArm(port_name=ports[0])
    else:
        return None
  • firmware, you could flash the firmware and download the latest firmware
$python -m pyuarm.tools.firmware -d
pyuarm - INFO - pyuarm version: 2.4.0.9
pyuarm - INFO - writing to /Users/alex/uarm/assistant/firmware.hex, file size: 80486 bytes
Downloading: [==================================================] 100.00%
pyuarm - INFO - Flash Command:
avrdude -patmega328p -carduino -P/dev/cu.usbserial-A600CRJU -b115200 -D -Uflash:w:/Users/alex/uarm/assistant/firmware.hex:i
Flashing: [==================================================] 100.00%
  • calibrate, query calibrate information
$python -m pyuarm.tools.calibrate
pyuarm - INFO - pyuarm version: 2.4.0.9
pyuarm - INFO - Connecting from port - /dev/cu.usbserial-A600CRJU...
pyuarm - INFO - All Calibration: COMPLETED
pyuarm - INFO - Linear Calibration: COMPLETED
pyuarm - INFO - Manual Calibration: COMPLETED
pyuarm - INFO - Servo 0 INTERCEPT: -29.7, SLOPE: 0.35, MANUAL: -20.84
pyuarm - INFO - Servo 1 INTERCEPT: -28.41, SLOPE: 0.34, MANUAL: 5.0
pyuarm - INFO - Servo 2 INTERCEPT: -30.68, SLOPE: 0.35, MANUAL: -11.0
pyuarm - INFO - Servo 3 INTERCEPT: -45.37, SLOPE: 0.51, MANUAL: 0.0

You could use this summary script

uarmcli -h or python -m pyuarm.tools.scripts -h

$python -m pyuarm.tools.scripts -h
usage: scripts.py [-h] [-v] {miniterm,calibrate,list,firmware} ...

positional arguments:
  {miniterm,calibrate,list,firmware}

optional arguments:
  -h, --help            show this help message and exit
  -v, --version         show program's version number and exit

$python -m pyuarm.tools.scripts list
/dev/cu.usbserial-A600CRJU
1 ports found

python -m pyuarm.tools.scripts firmware -h
usage: scripts.py firmware [-h] [-p PORT] [--path PATH] [--debug] [-d]

optional arguments:
  -h, --help            show this help message and exit
  -p PORT, --port PORT  specify port number
  --path PATH           firmware path
  --debug               Turn on Debug Mode
  -d, --download        download firmware online