machineagency/jubilee_controller

Intro

This project wraps a python interface around the existing Duet Software Framework interface for controlling SBC-Duet3-based Jubilees in python.

Note that this python driver only works with Duet 3s in SBC mode, i.e: with an attached Single Board Computer (typically a Raspberry Pi).

Connecting to Jubilee

There are three ways to connect to Jubilee. They look like this:

Local Connection

In this mode, everything runs on the onboard Raspberry Pi, and keyboard and mouse are plugged directly into the Pi.

Remote Connection through SSH

In this mode, everything runs on the onboard Raspberry Pi, but connection is made to the Pi via a remote SSH session from another PC. By defaul, this is a closed network, but Internet access can be from the PC that's remoting into the Pi through network sharing. Linux Internet Sharing Setup

Teleoperated Connection through HTTP

In this mode, the Python driver runs on a separate pc that has this software package installed on it. It will run as long as it is connected to the PC connected to it.

When running the machine in this mode, note that turning off your PC or losing the network connection will halt the machine mid-execution. Furthermore, a laggy network connection will cause the machine to lag.

Installation

If you are running this code locally, clone this repository onto Jubilee's attached Raspberry Pi. If you are running it over a network connection, clone it onto your PC.

Then, from within this directory (the one with this README in it), install the project via pip with ....

pip3 install -e .

Now you can spin up a connection to Jubilee by importing the driver.

API

There are 2 ways of interacting with the machine: (1) directly through a python script, and (2) interactively through a command prompt.

Python Script Mode

After installing this package with pip, you should be able to simply import it in python:

If you are running the code locally, the code will look like this:

# TODO: schnazzy python example here.

If you are running the code over a network from a separate PC, the code may look like this:

# TODO: schnazzy pyton example here using ip address or jubilee.local

Here the above address argument is the ip address of Jubilee as it appears on your network.

Prompt Mode

You can interactively control Jubilee through a custom prompt. To interact with the prompt, spin it up from the python shell with:

from sonication_station.sonication_station import SonicationStation
with SonicationStation() as jubilee:
    jubilee.cmdloop()

or, from the command line:

sudo path/to/sonication_station/sonication_station.py

This will drop you into an interactive prompt that looks like this:

JUBILEE Controller
>>>

This mode lets you input commands one at a time.

In this mode you can:

home the machine
execute movement commands
pickup and park tools
control the machine with the keyboard arrow keys

To see the list of supported commands, press TAB twice. This mode also supports TAB completion, that is, if you start typing a command and press TAB twice, the prompt will either attempt to auto-complete any possibilities or show you a list of possible completions. To get help on any command, simply type:

>>> help command_name_here

machineagency / jubilee_controller