cubituskinematics 0.0.1

Controller library for C.U.B.I.T.U.S. Robotic Arm.

Cubitus Kinematics Package

This is the custom made package for Cubitus Robotic Arm. This package includes matplotlib plotting as well as realtime sending the data to the robotic manipulator itself.

Installation

Run the following to install the package :

$ pip install cubituskinematics

Usage

First of all, you need to import cubituskinematics package/library into your project's python file.

import cubituskinematics as ck
# or you could also use (but not recommended):
from cubituskinematics import *

Next you can test it using simple commands as shown below :

# declare two points (as a list)
A = [200, 0, 120]
B = [200, 0, 230]
# performs a line movement
ck.perform_line(A, B, sampling=50, repeat=1)
# use 'sampling' and 'repeat' arguments to determine sampling and number of repetitions

# moves to one certain point in 3D space
ck.move_to_point(210, 0, 170)

NOTE: if you want to know more about a function, hover on its name to reveal more information

User Interface Terminal

If you want to use user interface use one simple command as shown below :

# opens user interface which acts like a simple command line terminal
ck.run_ui()

Here is a list of all possible commands which can be called via command line :

>> about       Show application info.
>> clear       Clear terminal.
>> exit        Exit interface.
>> help        Show all commands.
>> perform     Perform a specific movement based on input.
>> equation    Perform a custom curve based on input.
>> reset       Reset application.