Python wrapper for the Sensapex SDK
Project description
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
1.022.0
- Setup bdist_wheel that pre-downloads the SDK
- Bump SDK version to the latest
1.021.2
- SDK version bump
1.021.1
- Move-finish error capture
- Use new windows library name
1.021.0
- Update to new version
0.920.4
- Pressure devices don't need positioning callbacks
0.920.3
- Expose more pressure functions.
0.920.2
- Workaround for sdk bug in motion planning
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