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()

Project details


Download files

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

Source Distribution

pulseapi_integration-0.1.3.tar.gz (7.6 kB view hashes)

Uploaded Source

Built Distribution

pulseapi_integration-0.1.3-py3-none-any.whl (8.7 kB view hashes)

Uploaded Python 3

Supported by

AWS AWS Cloud computing and Security Sponsor Datadog Datadog Monitoring Fastly Fastly CDN Google Google Download Analytics Microsoft Microsoft PSF Sponsor Pingdom Pingdom Monitoring Sentry Sentry Error logging StatusPage StatusPage Status page