Usage

Installation

You can start by creating a virtual environment and install scara package in development mode:

$ python -m venv nelen
$ source nelen/bin/activate
(nelen) $ pip install -e .

Interacting with the robot

After installation, you can initialize a python prompt and start sending instructions to the whole robot or just a joint:

(nelen) $ python
>>> import scara
>>> import logging
>>> scara.logger.setLevel(logging.INFO)  # set info level for logger
>>> nelen = scara.Robot()  # creates an instance of the scara robot
>>> nelen.setup()  # setup motors
>>> nelen.go_home()  # do homing routine

You can also talk directly with a joint (hombro, codo or z), as follows:

(nelen) $ python
>>> import scara
>>> import logging
>>> scara.logger.setLevel(logging.INFO)  # set info level for logger
>>> joint = scara.Joint(odrv_serial_num, axis) # check config/default.yaml
>>> joint.j_setup()  # setup motors
>>> joint.j_go_home()  # do homing routine