typhoon-robotic-arm 1.0.3

Library to communicate with Typhoon robotic arm.

Typhoon Robotic Arm

typhoon-robotic-arm is a Python library that enables control of the Typhoon robotic arm. This library provides various functionalities, including calculations, communication and movement of the arm.

Installation

Requires Python 3.8+. Download and install the latest release:

pip install typhoon-robotic-arm

Quickstart

from typhoon import Typhoon

typhoon = Typhoon("COM3", 0, 170, 130, output=True)

typhoon.move_to(100, 0, 0)
typhoon.tool(pw9=255)
typhoon.move_to(0, 0, 0)

typhoon.close()

References

class Typhoon(port: str, start_x: int, start_y: int, start_z: int, tool_offset_x: int = 0, tool_offset_y: int = 0, tool_offset_z: int = 0, output: bool = False)

• Controls a Typhoon robotic arm through serial communication. Offers a user-friendly interface for various arm operations.

• Parameters:

  • port (required) - Port on which is typhoon robotic arm connected. You can check this in your Device Manager on Windows under USB Connector Managers.

  • start_x (required): - Startring X position of robotic arm.

  • start_y (required) - Startring Y position of robotic arm.

  • start_z (required) - Startring Z position of robotic arm.

  • tool_offset_x - X offset of the tool.

  • tool_offset_y - Y offset of the tool.

  • tool_offset_z - Z offset of the tool.

  • output - If you want to see output from the Arduino board.

• Methods:

  • move_to(x: int, y: int, z: int):

    • Moves the arm to the specified coordinates.
    • Calculates the required angles and sends them to the arm.

  • move_home():

    • Moves the arm to the starting position.

  • tool(pw8: int = 0, pw9: int = 0, pw10: int = 0):

    • Controls the state of the tool (e.g., gripper open/close, suction on/off).
    • Sends PWM values to the arm to activate the desired tool functions.

  • get_angles():

    • Returns the current base, upper, and lower arm angles as a tuple.

  • get_coords():

    • Returns the current X, Y, and Z coordinates of the arm tip as a tuple.

  • send_file(file_path: str, separator: str = " "):

    • Moves the arm according to coordinates specified in a text file.
    • Each coordinate must be written on new line in format x y z.
    • When you set separator to , , program expects on each line data in format x, y, z

  • close():

    • Closes the serial connection to the arm.