Joint-python-library 0.0.7__tar.gz → 0.0.8__tar.gz

{joint_python_library-0.0.7 → joint_python_library-0.0.8}/Joint_python_library.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: Joint-python-library
-Version: 0.0.7
+Version: 0.0.8
 Summary: Python library for interfacing with Acrome Robotic Arm Joint BLDC Motor Controllers. This Python library provides an easy-to-use interface for communication and control of BLDC motor controllers used in Acrome robotic arm joints. It is designed to simplify the integration of Acrome’s robotic joint actuators into custom applications, allowing developers and researchers to focus on building advanced robotic systems without dealing with low-level communication details.
 Home-page: https://github.com/Acrome-Smart-Motion-Devices/python-library-new
 Author: BeratComputer

{joint_python_library-0.0.7 → joint_python_library-0.0.8}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: Joint-python-library
-Version: 0.0.7
+Version: 0.0.8
 Summary: Python library for interfacing with Acrome Robotic Arm Joint BLDC Motor Controllers. This Python library provides an easy-to-use interface for communication and control of BLDC motor controllers used in Acrome robotic arm joints. It is designed to simplify the integration of Acrome’s robotic joint actuators into custom applications, allowing developers and researchers to focus on building advanced robotic systems without dealing with low-level communication details.
 Home-page: https://github.com/Acrome-Smart-Motion-Devices/python-library-new
 Author: BeratComputer

{joint_python_library-0.0.7 → joint_python_library-0.0.8}/acrome_joint/joint.py

@@ -12,7 +12,8 @@ from acrome_joint.Slave_Device import *
 
 
 # enter here for extra commands: 
-#class Device_ExtraCommands(enum.IntEnum):
+class Device_ExtraCommands(enum.IntEnum):
+	PROTOCOL_RESET_ABSOLUTE_ENCODER = 0x11
 	# .......... start with 11
 	# .......... end of extra commmands max: 39
 
@@ -143,7 +144,7 @@ class Joint(Slave_Device):
 			Data_(Index_Joint.current_Id, 'f'),
 			Data_(Index_Joint.current_Iq, 'f'),
 			Data_(Index_Joint.current_velocity, 'f'),
-			Data_(Index_Joint.current_position, 'i'),
+			Data_(Index_Joint.current_position, 'f'),
 			Data_(Index_Joint.current_electrical_degree, 'f'),
 			Data_(Index_Joint.current_electrical_radian, 'f'),
 			Data_(Index_Joint.setpoint_current, 'f'),
@@ -282,7 +283,17 @@ class Joint(Slave_Device):
 		return super().set_variables(*idx_val_pairs, ack=ack)
 
 
+	def get_currentStatus_parameters(self):
+		classic_package = [
+			Index_Joint.Enable,
+			Index_Joint.current_Id, Index_Joint.current_Iq,
+			Index_Joint.current_velocity, Index_Joint.current_position,
+			Index_Joint.Temprature_read,
+			Index_Joint.setpoint_current, Index_Joint.setpoint_velocity, Index_Joint.setpoint_position
+		]
+		return self.get_variables(*classic_package)
 
+		
 	def get_FOC_parameters(self, package_number:int):
 		if package_number >= 4:
 			raise "invalid package number ex: 0, 1, 2"
@@ -324,112 +335,104 @@ class Joint(Slave_Device):
 		elif package_number == 3:
 			return self.get_variables(*classic_package)
 		
+	def reset_absolute_encoder(self):
+		self._pure_command_send(Device_ExtraCommands.PROTOCOL_RESET_ABSOLUTE_ENCODER)
+		
 
-
-def set_joint_variables_sync(port:SerialPort, parameter_idx, *idx_val_pairs):
+def set_joint_variables_sync(port: SerialPort, parameter_idx, *idx_val_pairs):
     """
-    Build & send a WRITE_SYNC packet:
-      [HEADER, 0xFF, DEVICE_FAMILY, LENGTH, WRITE_SYNC, 0, PARAM_IDX, (ID, VALUE)*, CRC32]
-    - parameter_idx: single parameter index to write on each target
-    - idx_val_pairs: variadic list of 2-tuples/lists like (id, value) or [id, value]
-    - port: SerialPort-like object that has write(bytes) method
-
-    Returns: number of bytes written.
-    Raises: ValueError on malformed inputs.
+    Sync Write paketi oluşturur ve gönderir.
+    
+    Args:
+        port: SerialPort nesnesi.
+        parameter_idx: Index_Joint enum değeri (örn: Index_Joint.Enable).
+        idx_val_pairs: [DeviceID, Value] listeleri. Örn: [0, True], [1, True]
     """
-
-    # --- Validate & fetch parameter meta
-    if parameter_idx not in VARS:
-        raise ValueError(f"Unknown parameter index: {parameter_idx}")
-
-    var_desc = VARS[parameter_idx]
-    val_fmt = var_desc.type()     # e.g., 'f', 'i', 'H', etc. (little-endian will be applied later)
-    val_size = var_desc.size()    # size in bytes
-
-    # --- Validate pairs; normalize to tuples
+    
+    # 1. Port Kontrolü
+    if port is None:
+        raise ValueError("Port tanımlı değil.")
+
+    # 2. Referans Cihaz Oluşturma
+    # Data_ yapısındaki .type() ve .size() metotlarına erişmek için.
+    try:
+        ref_device = Joint(0, port)
+    except Exception as e:
+        raise ValueError(f"Referans Joint nesnesi oluşturulamadı: {e}")
+
+    # 3. Parametre Bilgilerini Çekme
+    try:
+        var_desc = ref_device._vars[parameter_idx]
+    except IndexError:
+        raise ValueError(f"Bilinmeyen parametre indeksi: {parameter_idx}")
+    except AttributeError:
+        raise ValueError("Joint nesnesinde '_vars' listesi bulunamadı.")
+
+    # --- DÜZELTME BURADA ---
+    # .type ve .size muhtemelen metot olduğu için () ile çağırıyoruz.
+    val_fmt = var_desc.type()  # 'f', 'B', 'I' vb. döndürür
+    val_size = var_desc.size() # 4, 1 vb. int döndürür
+
+    # 4. Veri Çiftlerini Doğrulama
     pairs = []
     for p in idx_val_pairs:
         if not hasattr(p, '__len__') or len(p) != 2:
-            raise ValueError(f"{p} must be a pair like [ID, value]")
+            raise ValueError(f"Hatalı veri çifti: {p}. Format [ID, Value] olmalı.")
+        
         dev_id, value = p[0], p[1]
-
-        # Device ID range (0..254), 255 is reserved for broadcast in header
+        
+        # ID Kontrolü
         if not (0 <= int(dev_id) <= 254):
-            raise ValueError(f"Device ID out of range (0..254): {dev_id}")
+            raise ValueError(f"Device ID aralık dışı (0..254): {dev_id}")
 
         pairs.append((int(dev_id), value))
 
     if not pairs:
-        raise ValueError("At least one [ID, value] pair is required.")
+        raise ValueError("Gönderilecek veri çifti bulunamadı.")
 
-    # --- Compute size field used by your protocol
-    # Payload after the 6 fixed header bytes:
-    #   PARAM_IDX (1 byte)
-    # + for each pair: ID (1 byte) + VALUE (val_size bytes)
+    # 5. Paket Boyutlarını Hesaplama
+    # Payload: [PARAM_IDX] + ([ID] + [VALUE]) * N
+    # Artık val_size bir int olduğu için toplama işlemi çalışacaktır.
     payload_size = 1 + len(pairs) * (1 + val_size)
+    
+    length_field = payload_size + Joint._PACKAGE_ESSENTIAL_SIZE + 4  # 4 byte CRC ekle
 
-    # Protocol total-length field used in your other function:
-    # size + PING_PACKAGE_SIZE (to mirror your existing framing)
-    length_field = payload_size + PING_PACKAGE_SIZE
-
-    # --- Build struct format string & flat args
-    # Fixed header: '<BBBBBB'
-    # Then: PARAM_IDX (B)
-    # Then for each pair: ID (B) + VALUE (val_fmt)
+    # 6. Struct Formatını Hazırlama
+    # Header(6 byte) + ParamIdx(1 byte) + (DevID(1 byte) + Value(N byte)) * Adet
     fmt = '<BBBBBB' + 'B' + ''.join(['B' + val_fmt for _ in pairs])
 
+    # 7. Paket İçeriği (Header, ID, Family, Length, Command...)
+    HEADER_BYTE = 0x55
+    BROADCAST_ID = 0xFF
+    CMD_WRITE_SYNC = Device_Commands.WRITE_SYNC
+    device_family = Joint._PRODUCT_TYPE 
+
     flat = [
-        dev.SERIAL_HEADER,			# header
-        0xFF,                   # broadcast ID
-        DEVICE_FAMILY,          # device family
-        length_field,           # total length field
-        Device_Commands.WRITE_SYNC,  # command
-        0x00,                   # reserved
-        int(parameter_idx),     # parameter index
+        HEADER_BYTE,        # Header
+        BROADCAST_ID,       # Broadcast ID (0xFF)
+        device_family,      # Device Family
+        length_field,       # Length
+        CMD_WRITE_SYNC,     # Command
+        0x00,               # Status
+        int(parameter_idx), # Parametre ID
     ]
 
-    # Append all (ID, VALUE) flattened; VALUE goes in native python type, struct packs it
+    # Değerleri ekle
     for dev_id, value in pairs:
         flat.append(dev_id)
         flat.append(value)
 
-    # --- Pack without CRC
-    pkt_wo_crc = struct.pack(fmt, *flat)
-
-    # --- Append CRC32 (little-endian uint32 of the bytes above)
-    pkt = pkt_wo_crc + struct.pack('<I', CRC32.calc(pkt_wo_crc))
-
-    # --- Send over the provided port (broadcast sync write typically has no ACK)
-    written = port.write(pkt)
-    return written
-
-
-def set_variables(self, *idx_val_pairs, ack = False):
-        # returns : did ACK come?
-        fmt_str = '<BBBBBB'
-        var_count = 0
-        size = 0
-        for one_pair in idx_val_pairs:
-            try:
-                if len(one_pair) != 2:
-                    raise ValueError(f"{one_pair} more than a pair! It is not a pair")
-                else:
-                    fmt_str += ('B' + self._vars[one_pair[0]].type())
-                    var_count+=1
-                    size += (1 + self._vars[one_pair[0]].size())
-            except:
-                raise ValueError(f"{one_pair} is not proper pair")
-        
-        flattened_list = [item for sublist in idx_val_pairs for item in sublist]
-
-        struct_out = list(struct.pack(fmt_str, *[self._header, self._id, self._device_family, size + PING_PACKAGE_SIZE, Device_Commands.WRITE, 0, *flattened_list]))
-        struct_out = bytes(struct_out) + struct.pack('<' + 'I', CRC32.calc(struct_out))
-        self._ack_size = PING_PACKAGE_SIZE
-
-        self._write_port(struct_out)
-        if(self.write_ack_enable):
-            if self._read_ack():
-                return True
-            else:
-                return False
-        return False
+    # 8. Paketleme
+    try:
+        pkt_wo_crc = struct.pack(fmt, *flat)
+    except struct.error as e:
+        # Genellikle float yerine int veya tam tersi gelince oluşur
+        raise ValueError(f"Struct paketleme hatası (Veri tipi uyumsuzluğu): {e}")
+
+    # 9. CRC32
+    crc_val = CRC32.calc(pkt_wo_crc)
+    pkt = pkt_wo_crc + struct.pack('<I', crc_val)
+
+    # 10. Gönder
+    written = port._write_bus(pkt)
+    return written

joint_python_library-0.0.8/gui/joint_device.py

@@ -0,0 +1,14 @@
+from acrome_joint.joint import*
+
+keyword_for_usb = "USB-SERIAL"
+altarnate_keyword_for_usb = "USB-Enhanced-SERIAL"
+if(not USB_serial_port(keyword_for_usb)):
+    if(not USB_serial_port(altarnate_keyword_for_usb)):
+        raise Exception("No USB serial port found. Please check your connections.")
+    else:
+        keyword_for_usb = altarnate_keyword_for_usb
+
+port = SerialPort(USB_serial_port(keyword_for_usb), baudrate=921600, timeout=0.1)
+
+
+Device = Joint(1, port)

joint_python_library-0.0.8/gui/limits.py

@@ -0,0 +1,18 @@
+
+# SPEED  = RPM, ACC= RPM/s
+ENCODER_CPR = 16384
+
+MOTOR_VEL_MAX = 3000.0 # in rpm
+MOTOR_ACC_MAX = 3000.0
+
+ENC_TO_RPM_CONSTANT = ENCODER_CPR / 60
+
+MOTOR_VEL_MAX_IN_ENC_TYPE = MOTOR_VEL_MAX * ENC_TO_RPM_CONSTANT
+MOTOR_ACC_MAX_IN_ENC_TYPE = MOTOR_ACC_MAX * ENC_TO_RPM_CONSTANT
+
+def rpm_to_tick_per_second(rpm:float):
+    return rpm*ENCODER_CPR/60
+
+def tick_per_second_to_rpm(tick_per_second:float):
+    return tick_per_second*60/ENCODER_CPR
+

{joint_python_library-0.0.7 → joint_python_library-0.0.8}/gui/main.py

@@ -546,6 +546,7 @@ class OperationTab(QtWidgets.QWidget):
                     continue
                 try:
                     idx = Index_Joint[nm]
+                    print(f"Pulling {nm} (Index {idx})")
                     out[nm] = Device.get_variables(idx)[0]
                 except Exception:
                     out[nm] = ""

{joint_python_library-0.0.7 → joint_python_library-0.0.8}/setup.py

@@ -5,7 +5,7 @@ with open("README.md", "r", encoding="utf-8") as fh:
 
 setuptools.setup(
     name="Joint-python-library",
-    version="0.0.7",
+    version="0.0.8",
     author="BeratComputer",
     author_email="beratdogan@acrome.net",
     description="Python library for interfacing with Acrome Robotic Arm Joint BLDC Motor Controllers. This Python library provides an easy-to-use interface for communication and control of BLDC motor controllers used in Acrome robotic arm joints. It is designed to simplify the integration of Acrome’s robotic joint actuators into custom applications, allowing developers and researchers to focus on building advanced robotic systems without dealing with low-level communication details.",

joint_python_library-0.0.7/gui/joint_device.py

@@ -1,6 +0,0 @@
-from acrome_joint.joint import*
-
-keyword_for_usb = "USB-SERIAL"
-port = SerialPort(USB_serial_port(keyword_for_usb), baudrate=921600, timeout=0.01)
-
-Device = Joint(0, port)

joint_python_library-0.0.7/gui/limits.py

@@ -1,17 +0,0 @@
-
-# SPEED  = RPM, ACC= RPM/s
-ENCODER_CPR = 4096
-
-MOTOR_VEL_MAX = 150.0 # in rpm
-MOTOR_ACC_MAX = 500.0
-
-
-MOTOR_VEL_MAX_IN_ENC_TYPE = MOTOR_VEL_MAX * 68.2666
-MOTOR_ACC_MAX_IN_ENC_TYPE = MOTOR_ACC_MAX * 68.2666
-
-def rpm_to_tick_per_second(rpm:float):
-    return rpm*ENCODER_CPR/60
-
-def tick_per_second_to_rpm(tick_per_second:float):
-    return tick_per_second*60/ENCODER_CPR
-