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. 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:

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

Exception¶

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

Constants¶

TO-DO

Module Functions and attributes¶