uArm-Python-SDK

---

Overview

This module encapsulates the operations for uArm. It provides basic movement on Python. The library only supports uArm Swift/SwiftPro. For Metal, please use pyuarm or pyuf instead.

Related

• 0.0 --> pyuarm
• 1.0 --> pyuf
• 2.0 --> uArm-Python-SDK

Update Summary for 2.0

• Support multi-machine synchronization.
• New Support Swift Pro firmware V4.0 or later.
• Supoort event callback register and release.
• Support api callback.
• Support more custom configuration.
• Better in management threads.
• Easy to use.

Caution

• Temporarily only supports Swift / SwiftPro.
• Temporarily only supports Python3 (development is python3.5).
• if your uArm's firmware is 4.0 or later, please set the speed between 1 to 250, or with the api set_speed_factor to fix.
• Make sure you move the device head to a safe position and completely quit uArm Studio before running the tests.

Installation

python setup.py install

• Install is not necessary, you can run examples without installation.

Doc

• Swift/SwiftPro
• Other

Example:

• Swift/SwiftPro

Import

from uarm.wrapper import SwiftAPI
swift = SwiftAPI()
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042')
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', do_not_open=true)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', cmd_pend_size=2)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_write_thread=True)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_handle_report_thread=True)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', enable_write_thread=True, enable_handle_report_thread=True)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=10)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=1)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042', callback_thread_pool_size=10)

Wait

swift.waiting_ready()
swift.flush_cmd()

Connect/Disconnect

swift.connect()
swift.disconnect()

Get

swift.get_power_status()
swift.get_device_info()
swift.get_limit_switch()
swift.get_gripper_catch()
swift.get_pump_status()
swift.get_mode()
swift.get_servo_attach(servo_id=2)
swift.get_servo_angle()
swift.get_polar()
swift.get_position()
swift.get_analog(0)
swift.get_digital(0)

Set

swift.set_speed_factor(1)
swift.set_mode(mode=0)
swift.set_wrist(90)
swift.set_servo_attach()
swift.set_servo_detach()
swift.set_buzzer(frequency=1000, duration=2)
swift.set_pump(on=True)
swift_set_gripper(catch=True)

Move

swift.reset()
swift.set_position(x=200, y=0, z=100, speed=100000)
swift.set_polar(stretch=200, rotation=90, height=150)
swift.set_servo_angle(servo_id=0, angle=90)

Event register/release

swift.register_report_position_callback(callback)
swift.release_report_position_callback(callback)
swift.set_report_position(0.5)

API callback

swift.get_polar(wait=False, callback=lambda i: print('polar', i))
swift.get_position(wait=False, callback=lambda i: print('pos', i))

License

uArm-Python-SDK is published under the BSD license