yzglqn / uArm-Python-SDK

New python library for Swift, Swift Pro and uArm Metal

uArm-Python-SDK

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Overview

This module encapsulates the operations for uArm. It provides baisc Movement on Python. The library only supports uArm Swift/SwiftPro. For Metal, please use pyuarm or pyuf instead.

Related

• 0.0 --> pyuarm
• 1.0 --> pyuf
• 2.0 --> uArm-Python-SDK

Update Summary for 2.0

• Support multi-machine synchronization.
• New Support Swift Pro firmware V4.0 or later.
• Supoort event callback register and release.
• Support api callback.
• Support more custom configuration.
• Better in management threads.
• Easy to use.

Caution

• Temporarily only supports Swift / SwiftPro.
• Temporarily only supports Python3 (development is python3.5).
• if your uArm's firmware is 4.0 or later, please set the speed between 1 to 250, or with the api set_speed_fator to fix.
• Make sure you move the device head to a safe position and completely quit uArm Studio before running the tests.

Doc

• Swift/SwiftPro
• Other

Example:

• Swift/SwiftPro Import from uarm.wrapper import SwiftAPI swift = SwiftAPI() swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042') swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', do_not_open=true) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', cmd_pend_size=2) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_write_thread=True) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_handle_report_thread=True) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_write_thread=True, enable_handle_report_thread=True) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=10) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=1) swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=10)

  Wait swift.waiting_ready() swift.flush_cmd()

  Connect/Disconnect swift.connect() swift.disconnect()

  Get swift.get_power_status() swift.get_device_info() swift.get_limit_switch() swift.get_gripper_catch() swift.get_pump_status() swift.get_mode() swift.get_servo_attach(servo_id=2) swift.get_servo_angle() swift.get_polar() swift.get_position() swift.get_analog(0) swift.get_digital(0)

  Set swift.set_speed_factor(1) swift.set_mode(mode=0) swift.set_wrist(90) swift.set_servo_attach() swift.set_servo_detach() swift.set_buzzer(frequency=1000, duration=2) swift.set_pump(on=True) swift_set_gripper(catch=True)

  Move swift.reset() swift.set_position(x=200, y=0, z=100, speed=100000) swift.set_polar(stretch=200, rotation=90, height=150) swift.set_servo_angle(servo_id=0, angle=90)

  Event register/release swift.register_report_position_callback(callback) swift.release_report_position_callback(callback) swift.set_report_position(0.5)

  API callback swift.get_polar(wait=False, callback=lambda i: print('polar', i)) swift.get_position(wait=False, callback=lambda i: print('pos', i))

Installation

python setup.py install

• Install is not necessary, you can run examples without installation.

License

uArm-Python-SDK is published under the BSD license