Metadata-Version: 2.1
Name: raepy
Version: 0.0.23
Summary: Software drivers for the robot autonomy effector
Home-page: https://github.com/romzn/raepy
Author: Roman Baur
Author-email: romanbaur.engineering@gmail.com
License: UNKNOWN
Project-URL: Bug_Tracker, https://github.com/romzn/raepy/issues
Description: # About
        This is the official repositiory for the python based software drivers of the robot autonomy effector.
        This package enables you to control the fingertip distance of the gripper, the position of the rack and direct Servo access.
        
        # Prerequisites
        * Python > 3.6
        * Linux based System OS
        * Ethernet or Wifi Connected RPi4
        * SSH Connection to RPi (VSCODE SSH extension is strongly recommended)
          
        # Installation
        Either clone this repository with
        ```bash
        pip3 install git+https://github.com/romzn/raepy.git
        ```
        or direct from the pypi repository
        ```bash
        pip3 install raepy
        ```
        or build the newest version and 
        ```bash
        git clone github.com/romzn/raepy.git
        cd raepy
        
        ## Build repository and Install
        python3 -m pip install --upgrade build
        pip3 -m build
        pip3 install .
        
        # Start tests to see basic functionality (!!After the racktest and servoest an recalibration has to be made!!)
        pip3 -m unittest racktest.py
        pip3 -m unittest radialgrippertest.py
        pip3 -m unittest racktest.py
        ```
        
        # Basic functionality
        To move the gripper or the rack the their specific objects has to be loaded in the current script.
        
        ```python
        from raepy import rack, gripper, servo
        
        
        rack.out() # brings the rack to the front position (+8cm) and the grippers back
        
        
        gripper.grasp() # brings the grippers together until they meet resistance, then they are holding with an specific force.
        
        
        gripper.to(0.1) # Set the distance between the two fingertips to 10 cm
        
        
        gripper.to(0.2) # Set the distance between the two fingertips to 20 cm
        
        
        rack.to(0.5) # Drives the rack to an absolute position (5cm)
        
        
        rack.to(1.2) # Drives the rack out !! but before dismantle the grippers or they will collide !!
        
        
        servo.led_to(color) # sets the color to ['black', 'red', 'green', 'blue', 'yellow', 'cyab', 'magenta']
        
        
        servo.limp() # Sets the motor current to zero which results in powerless fingers
        
        
        servo.hold() # holds the position with an specific force (max 28 Nm)
        
        
        # ! There are some servomotor functions more, just take a look at the sources ./src/servo !
        
        ```
        
        
        
        # Calibration
        To calibrate the gripper two steps has to be made. 
        
        In the first step the grippers have to be dismantled an the rack must drive Rack Out
        
        >Normally an calibration is not needed because the gripper is calibrated by factory. 
        >In the case you dismantle Gripper without mounting them back into exactly the same position, 
        or you drive the rack completely out an recalibration is necessary. It is also necesseary if the package was updated
        
        
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: GNU General Public License v3 (GPLv3)
Classifier: Operating System :: OS Independent
Requires-Python: >=3.6
Description-Content-Type: text/markdown
