Functions Move, Tool, IO

Import the library:

from robot_library import Move, Tool, IO

Robot move functions

Declare the move function:

robot = Move()

MoveJ

robot.MoveJ(pos = list, v = float, a = float)

MoveJ is used to move the robot arm from one position to another position when the movement does not has to be a straight line.

Pos: Joint positions
v: Speed of the movement
a: Joint acceleration

MoveL

robot.MoveL(pos = list, v = float, a = float)

MoveL is used to move the robot arm in a straight line.

Pos: Joint positions
v: Speed of the movement
a: Joint acceleration

OffsetJ

robot.OffsetJ(pos = list, v = float, a = float)

OffsetJ is used to move the robot from it’s position to another position by giving it an offset.

Pos: Joint positions
v: Speed of the movement
a: Joint acceleration

OffsetL

robot.OffsetL(pos = list, v = float, a = float)

OffsetL is used to move the robot from it’s position to another position by giving it an offset in a straight line.

Pos: Joint positions
v: Speed of the movement
a: Joint acceleration

Robot tool functions

Declare the tool function:

Tool_name = Tool(‘tool’)

tool: is the name of the tool

moveTo

Tool_name.moveTo(pos = int)

moveTo is used for tool where the servo option is selected. this function move the servo in the tool to the given position.

Pos: Joint positions
v: Speed of the movement
a: Joint acceleration

state

Tool_name.state(state = boolean)

state is used for tools where the relay option is selected in the settings. state will turn the tool on or off.

state: tool state True or False

Robot IO functions

Declare the IO function:

Input_output = IO(number = int, type = string)

number: Number of the IO, see robot settings number 1…10
type: If it is an input or output signal (“INPUT”, “OUTPUT”)

digitalRead

Input_output.digitalRead()

digitalRead will return True or False

digitalWrite

Input_output.digitalWrite(state = boolean)

digitalWrtie will set the IO pin to HIGH or LOW

state: “HIGH” or “LOW”