sensapex 0.920.3

Python wrapper for the Sensapex SDK

Sensapex SDK

This python library wraps the C SDK provided by Sensapex's umsdk. It provides general access to the functions present therein, as well as a device-based abstraction.

Installation

pip install sensapex

Download the latest umsdk library for your platform.

Usage

from sensapex import UMP

UMP.set_library_path("/path/which/contains/umsdk/binary/for/your/platform/")
ump = UMP.get_ump()
ump.list_devices()

stage = ump.get_device(1)
stage.calibrate_zero_position()

manipulator = ump.get_device(4)
manipulator.goto_pos((-2500.0412, 6810.0003, 15830.1419), speed=2)

pressure = ump.get_device(30)
pressure.set_pressure(1, 2.3e-4)

Also included are some simple sanity checks. The following will report on all devices present:

python -m sensapex.test

Or for a more involved test of your hardware as it moves around randomly, install pyqtgraph in your environment and use e.g.:

STAGE_DEVID=1
python -m sensapex.accuracy_test $STAGE_DEVID

Authorship

Copyright (c) 2016-2020 Luke Campagnola

Thanks to the following for contributions:

• Ari Salmi
• Martin Chase
• Thomas Braun

Changelog

0.920.3

• Expose more pressure functions.

0.920.2

• Workaround for sdk bug in motion planning