RH56DFTP 0.1.0

A Python library for communicating with RH56DFTP devices (tactile hand)

RH56DFTP Python Library

A Python library for communicating with RH56DFTP devices (tactile hand) via Modbus TCP.

Features

• Easy-to-use API for communicating with RH56DFTP tactile hand devices
• Support for reading and writing registers
• Built-in logging system for monitoring all operations
• Comprehensive register definitions including force, current, temperature, and error data
• Support for tactile data acquisition from all fingers and palm
• Modular design for easy extension

Installation

From Source

You can install the library from the GitHub repository:

git clone https://github.com/plus-m-r/RH56DFTP_teach.git
cd RH56DFTP_teach
pip install -e .

From Local Package

After building the package, you can install it from the generated wheel file:

pip install dist/rh56dftp-0.1.0-py3-none-any.whl

Requirements

• Python 3.7 or higher
• pymodbus 3.11.3

Usage

Basic Usage

from RH56DFTP.RH56DFTP_TCP import RH56DFTP_TCP

# Initialize connection to the tactile hand
try:
    # Replace with your device's IP address and port
    client = RH56DFTP_TCP(host="192.168.123.210", port=6000)
    print("✅ Connected successfully to tactile hand")
    
    # Read device ID
    hand_id = client.get("HAND_ID")
    print(f"🤖 Hand ID: {hand_id}")
    
    # Write to a register (if supported)
    success = client.set("HAND_ID", 2)
    print(f"🔧 Set HAND_ID to 2: {success}")
    
    # Read force values from fingers
    for finger in range(6):
        force = client.get(f"FORCE_ACT({finger})")
        print(f"✋ Finger {finger} force: {force} g")
    
    # Close connection properly
    client.close()
    print("👋 Connection closed")
except Exception as e:
    print(f"❌ Error: {e}")

Register Categories

The library provides predefined register names organized by function:

Device Configuration

• HAND_ID: Device ID (1-254)
• REDU_RATIO: Baud rate setting
• CLEAR_ERROR: Clear errors command
• SAVE: Save configuration to flash
• RESET_PARA: Restore factory settings

Finger Force Data (Read-only)

• FORCE_ACT(0): Pinky finger force
• FORCE_ACT(1): Ring finger force
• FORCE_ACT(2): Middle finger force
• FORCE_ACT(3): Index finger force
• FORCE_ACT(4): Thumb bending force
• FORCE_ACT(5): Thumb rotation force

Actuator Data (Read-only)

• CURRENT(0-5): Actuator current values (mA)
• ERROR(0-5): Actuator error codes
• TEMP(0-5): Actuator temperature values (°C)

Tactile Data (Read-only)

• Various tactile data registers for all fingers and palm
• 3x3, 12x8, and 10x8 matrix configurations
• 16-bit integer values (0-4096)

Register Configuration

Register definitions are located in the Register/config/configFTP directory:

• ftp_registers.py: Main register configuration
• ftp_registers_keys.py: Register name constants

The library automatically loads these configurations during initialization.

Logging

The library includes a built-in logging system that records:

• All get and set operations with timestamps
• Connection status and errors
• Register addresses and values

Logs are saved to rh56dftp.log and also printed to the console with the format:

YYYY-MM-DD HH:MM:SS - RH56DFTP - LEVEL - MESSAGE

Project Structure

RH56DFTP_teach/
├── RH56DFTP/              # Main library code
│   ├── RH56DFTP_base.py   # Abstract base class
│   └── RH56DFTP_TCP.py    # TCP implementation
├── Register/              # Register configuration
│   ├── config/            # Configuration files
│   │   └── configFTP/     # FTP register configs
│   ├── RegisterKey/       # Register name constants
│   └── RegisterSet/       # Register classes
├── connect.py             # Example connection script
├── README.md              # This file
├── setup.py               # Package setup
└── requirements.txt       # Dependencies

Development

Building the Package

To build the package for distribution:

python setup.py sdist bdist_wheel

This will generate:

• dist/rh56dftp-0.1.0.tar.gz (source distribution)
• dist/rh56dftp-0.1.0-py3-none-any.whl (wheel distribution)

Testing

Run the example script to test the connection:

python connect.py

License

MIT License

Repository

https://github.com/plus-m-r/RH56DFTP_teach