scara package

Submodules

scara.joint module

joint.py:: SCARA joint class

class scara.joint.Joint(odrv_serial_num: str, axis_name: str, name: Optional[str] = None, enable_odrv: bool = True, config_file: Optional[str] = None, odrv=None)[source]

Bases: object

Joint class

dump_errors()[source]: Recicle dump errors from odrive

j_go_home()[source]

Homing routine for joints

Parameters:: None –
Return type:: None

j_move2(position_increment: float, from_goal_point: bool = False)[source]

Move joint to target position

Parameters:

position_increment (float) – incremental position from current position
from_goal_point (bool) –

Return type:

None

j_setup()[source]

Setup routine for joints

Parameters:: None –
Return type:: None

scara.robot module

robot.py:: SCARA robot class

class scara.robot.Robot(config_file: str = 'default')[source]

Bases: object

Robot class

go_home()[source]

Homing routine

Parameters:: None –
Return type:: None

move2(x: float, y: float, z: float, mode: Optional[str] = None)[source]

Move to cartesian target position