API reference¶
Arm class¶
- class Arm(**config)¶
Create arm controlling instance. config - usb device configuration, by default:
vendor = 0x1267 bmRequestType = 0x40 bRequest = 6 wValue = 0x100 wIndex = 0
Usage:
from roboarm import Arm arm = Arm()
Grips¶
- arm.grips.open(timeout=1)¶
Start opening device grips and stop after timeout. If timeout=None don’t stop.
- arm.grips.close(timeout=1)¶
Start closing device grips and stop after timeout. If timeout=None don’t stop.
- arm.grips.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# open grips for 2 seconds:
arm.grips.open(2)
# close grips, wait 2 seconds and stop:
arm.grips.close(None)
time.sleep(2)
arm.grips.stop()
Wrist¶
- arm.wrist.up(timeout=1)¶
Start moving up device wrist and stop after timeout. If timeout=None don’t stop.
- arm.wrist.down(timeout=1)¶
Start moving down device wrist and stop after timeout. If timeout=None don’t stop.
- arm.wrist.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# up wrist for 2 seconds:
arm.wrist.up(2)
# down wrist, wait 2 seconds and stop:
arm.wrist.down(None)
time.sleep(2)
arm.wrist.stop()
Elbow¶
- arm.elbow.up(timeout=1)¶
Start moving up device elbow and stop after timeout. If timeout=None don’t stop.
- arm.elbow.down(timeout=1)¶
Start moving down device elbow and stop after timeout. If timeout=None don’t stop.
- arm.elbow.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# up elbow for 2 seconds:
arm.elbow.up(2)
# down elbow, wait 2 seconds and stop:
arm.elbow.down(None)
time.sleep(2)
arm.elbow.stop()
Shoulder¶
- arm.shoulder.up(timeout=1)¶
Start moving up device shoulder and stop after timeout. If timeout=None don’t stop.
- arm.shoulder.down(timeout=1)¶
Start moving down device shoulder and stop after timeout. If timeout=None don’t stop.
- arm.shoulder.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# up shoulder for 2 seconds:
arm.shoulder.up(2)
# down shoulder, wait 2 seconds and stop:
arm.shoulder.down(None)
time.sleep(2)
arm.shoulder.stop()
Base¶
- arm.base.rotate_clock(timeout=1)¶
Start rotating device clockwise and stop after timeout. If timeout=None don’t stop.
- arm.base.rotate_counter(timeout=1)¶
Start rotating device counterclockwise and stop after timeout. If timeout=None don’t stop.
- arm.base.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# rotate clockwise for 2 seconds:
arm.base.rotate_clock(2)
# rotate counterclockwise, wait 2 seconds and stop:
arm.base.rotate_counter(None)
time.sleep(2)
arm.base.stop()
Led¶
- arm.led.on(timeout=None)¶
Turn led on and stop after timeout. If timeout=None don’t stop.
- arm.led.off(timeout=None)¶
Turn led off and stop after timeout. If timeout=None don’t stop.
- arm.led.stop()¶
Stop current action.
Example usage:
from roboarm import Arm
import time
arm = Arm()
# turn led on:
arm.led.on()
# turn led off:
arm.led.off()
#turn led on for 2 seconds:
arm.led.on(2)