pyhman 1.0.3

Python library to control the HMan robot

pyHman

This is a Python library for controlling and communicating with the Hman device. This library provides high-level interfaces to set and get various parameters of hman, such as motor positions, modes, currents, and so on.

Installation

This package uses setuptools for distribution. You can install it via pip:

pip install pyHman

or directly from the source code:

git clone https://github.com/Aightech/pyHman.git
cd pyHman
python setup.py install

Requirements

• Python 3.6+
• socket (from the Python Standard Library)
• logging (from the Python Standard Library)

Usage

from Hman import Hman

# Create a Hman instance
hman = Hman(3, True) # '3' denotes the number of motors, 'True' enables verbose logging
# Connect to the hman
hman.connect('127.0.0.1') # Use the appropriate IP address for your setup
# Set the mode of the motors
hman.set_mode('position') # Other available modes: 'current', 'velocity', 'impedance'
# Set the articular position of the motors
positions = hman.set_articular_pos(0, 40, 30) # Enter the desired positions for each motor
# Print the positions
print(positions)

Features and Functions

The Hman class provides the following main features:

• connect(address: str, port: int = 5000): Connect to the hman using the given IP address and port.
• disconnect(): Disconnect from the hman.
• set_mode(mode: str): Set the mode of the hman (available modes are: 'position', 'current', 'velocity', 'impedance').
• set_cartesian_pos(posx: float, posy: float, posz: float): Set the cartesian position of the hman.
• set_articular_pos(pos1: float, pos2: float, pos3: float): Set the articular position of the hman.
• set_motors_current(cur1: float, cur2: float, cur3: float): Set the current of the hman's motors.
• turn_off_current(): Turn off the current of the hman's motors.
• get_pos(): Get the current position of the hman's motors.

Contributions

Feel free to submit a pull request if you want to contribute to this project.

License

This library is distributed under the MIT License. Please see the LICENSE file for more information.

Support

If you have any questions or run into any problems, please open an issue in the GitHub repository. 7

Disclaimer

Use this software at your own risk. The authors are not responsible for any damage that may be caused directly or indirectly through the use of this software.