scara package

Submodules

scara.joint module

joint.py:

SCARA joint class

class scara.joint.Joint(odrv_serial_num: str, axis: str, name: Optional[str] = None, config_file: Optional[str] = None)

Bases: object

Joint class

j_go_home()

Homing routine for joints

j_move2(position_increment: float, from_goal_point: bool = False)

Move joint to target position

Parameters:

position_increment : incremental position from current position from_goal_point :

Returns:

None

j_setup()

Setup routine for joints

scara.robot module

robot.py:

SCARA robot class

class scara.robot.Robot(config_file: str = 'default')

Bases: object

Robot class

go_home()

Homing routine

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

Move to cartesian target position

Parameters:

x : x position y : z position z : z position mode : to use an specific mode (not implemented yet)

Returns:

None

setup()

Setup all joints

Module contents