Tools¶

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

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 + L\n\nInput help for more usage'¶

prompt = '>>> '¶

ruler = '-'¶

uarm = None¶