Skip to main content

Wrapper around pulseapi

Project description

Wrapper around RobotPulse version >= 1.6.0

Latest PulseApi version: pip3 install pulse-api -i https://pip.rozum.com/simple

Connect to robot:

            from pulseapi_integration import *
            host = '127.0.0.0:8081'
            robot = NewRobotPulse(host)

New function:

set_reference_frame(robot_position)

Set reference frame in the respect to the robot base, further robot works relative it.

            robot.set_reference_frame(position([x,y,z],[r,p,w]))

get_reference_frame()

Return a dict with keys 'point' and 'rotation'

            robot.get_reference_frame()

            >>> {'point': {'x': 0.0, 'y': 0.0, 'z': 0.0},
                 'rotation': {'roll': 0.0, 'pitch': 0.0, 'yaw': 0.0}}

- run_positions( target_positions, speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Starts the list of points recalculated relative to the reference coordinate system.

            target_positions = [
                position([x, y, z], [r, p, w]),
                position([x, y, z], [r, p, w])
            ]

            robot.run_positions(target_positions, speed=5)

- set_position( target_position, speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Set the robot in the given position. If an reference frame is specified, the robot moves relative to it.

             set_position(position([x, y, z], [r, p, w]), speed=5)

untwist()

Allows the robot exit from TWISTED state, after the rotors were manually rotated into ~correct place

            robot.untwist()

            >>> <Response [503]>  (if all is OK)

move_along_axis(axis, distance, velocity)

Allows to move along one of each axis: 'x', 'y', 'z', 'roll', 'pitch', 'yaw' at a given distance, at a specified speed

            axis = 'x'
            distance = 0.1
            velocity = 1

            robot.move_along_axis(axis, distance, velocity)

stop_by_digital_input(number_of_input)

Stop the robot from the Digital Input

            number_of_DI = 1
            robot.stop_by_digital_input(number_of_DI)

- sensing( axis, detect_distance, velocity, retract_distance=0.01, retract_velocity=0.3, number_of_input=1 )

Mini case.

            axis = 'x'
            detect_distance = 0.1
            velocity = 1

            robot.sensing(axis, detect_distance, velocity)

get_position_rel_base()

Returns the position relative to the base, even if an reference frame is specified.

            robot.get_position_rel_base()

            >>> {'point': {'x': -0.09161, 'y': -0.2911, 'z': 1.07063},
                 'rotation': {'roll': 3.08421, 'pitch': 0.72008, 'yaw':0.17362}}

- go_home( speed=None, velocity=None, acceleration=None, tcp_max_velocity=None, motion_type=MT_JOINT )

Return the robot on home position pose[0, -90, 0, -90, -90, 0]

            robot.go_home()

enable_moving_panel()

Displays the robot control panel. Allows you to move the robot using buttons on the screen, displays the pose and position in the console.

            robot.enable_moving_panel()

Project details


Download files

Download the file for your platform. If you're not sure which to choose, learn more about installing packages.

Files for pulseapi-integration, version 0.1.1
Filename, size File type Python version Upload date Hashes
Filename, size pulseapi_integration-0.1.1-py3-none-any.whl (13.0 kB) File type Wheel Python version py3 Upload date Hashes View
Filename, size pulseapi_integration-0.1.1.tar.gz (11.4 kB) File type Source Python version None Upload date Hashes View

Supported by

Pingdom Pingdom Monitoring Google Google Object Storage and Download Analytics Sentry Sentry Error logging AWS AWS Cloud computing DataDog DataDog Monitoring Fastly Fastly CDN DigiCert DigiCert EV certificate StatusPage StatusPage Status page