Intro

Robko01 API library This document is devoted to the way client software is installed, which communicates with the robot controller.

Installation

Environment

• For better experience is good to have git client. This will will alow you to install easy from github this library. The link to the git client.

• This script is written in Python 3.8.5. To download it please visit official site of the Python and download 3.8.5

Create a virtual environment (Optional)

• Make virtual environment

python -m venv venv

• For Windows machines

venv/bin/activate.ps1

• For Linux or macOS machines:

source venv/bin/activate

Update the environment

• Update the pip system

python -m pip install --upgrade pip 

Install the library

• Install the repository from link

python -m pip install git+https://github.com/robko01/app_python3.git#egg=robko01

• You are ready for the first run.

Install the library manually (optional)

• Download the repository from link

• Install setuptools

python -m pip install setuptools

• Unzip the downloaded repo.
• Navigate to the unziped folder in terminal.
• Install the package

python setup.py install

• You are ready for the first run.

First run

After installation, the script is ready for operation. This happens in the following way.

• For Windows machines:

python -m robko01 --port COM<NUMBER> --task task_ui_qt

or

python -m robko01 --port COM<NUMBER> --task task_ui_tk

• For Linux machines:

python3 -m robko01 --port /dev/ttyUSB<NUMBER> --task task_ui_qt

• For macOS machines:

python3 -m robko01 --port /dev/cu.usbserial-1110 --task task_ui_qt

• To approach the robot, it will be presented to the computer as a serial port.
• The example is marked COM5, /dev/ttyUSB0 or /dev/cu.usbserial-1110.
• You need to find out which is the correct port for you by using the device manager.
• The argument --task serves to indicate which program to execute the robot.

Examples

Example 1

In this example we will:

• Create a controller.
• Connect to the robot.
• Do a simple motion.

#!/usr/bin/env python
# -*- coding: utf8 -*-

from robko01.controllers.controller_factory import ControllerFactory

port = "COM1" # You should change it according to your setup.
cname = "orlin369"

# Controller
controller = ControllerFactory.create(port=port, cname=cname)

# Set the speed.
speed = 150

# Trajectory path.
trajectory = [ \
    [450, 0, 600, 0, -400, 0, 200, 0, -200, 0, 400, 0], \
    [0, 0, 0, 0, 0, 0, 110, 0, 110, 0, 0, 0], \
    [0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -100, 0], \
    [0, 0, -100, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
    [-900, 0, 0, 0, 0, 0, -200, 0, -200, 0, 0, 0], \
    [0, 0, 100, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
    [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 100, 0], \
    [0, 0, -100, 0, 0, 0, 0, 0, 0, 0, 0, 0], \
    [0, 0, 0, 0, 0, 0, 110, 0, 110, 0, 0, 0], \
    [450, 0, -600, 0, 400, 0, -220, 0, 180, 0, -400, 0] \
    ]

# Run trough trajectory points.
for position in trajectory:
    current_point = scale_speeds(position, speed)            
    controller.move_relative(current_point)
    current_point = controller.current_position()

# Wait the controller to end its last movement.
controller.wait_to_stop()

Uninstall the library

In case you would like to remove the library use the fllowing command.

• For Windows machines:

python -m pip uninstall robko01

• For Linux machines:

python3 -m pip uninstall robko01

• For NacOS machines:

python3 -m pip uninstall robko01

Contributing

If you'd like to contribute to this project, please follow these steps:

1. Fork the repository on GitHub.
2. Clone your forked repository to your local machine.
3. Create a new branch for your changes: git checkout -b my-new-feature.
4. Make your modifications and write tests if applicable.
5. Commit your changes: git commit -am 'Add some feature'.
6. Push the branch to your forked repository: git push origin my-new-feature.
7. Create a pull request on the main repository.

We appreciate your contributions!

License

This project is licensed under the GNU License. See the GNU file for more details.