microcmm 0.1.0__tar.gz

microcmm-0.1.0/.github/workflows/ci.yml

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+name: ci
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  checks:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv sync --all-groups
+      - run: uv run ruff check src tests
+      - run: uv run ruff format --check src tests
+      - run: uv run mypy src tests
+      - run: uv run pytest -q

microcmm-0.1.0/.github/workflows/release.yml

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+name: release
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  checks:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv sync --all-groups
+      - run: uv run ruff check src tests
+      - run: uv run mypy src tests
+      - run: uv run pytest -q
+
+  publish:
+    needs: checks
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+      - run: uv build
+      - run: uv publish

microcmm-0.1.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#   Usually these files are written by a python script from a template
+#   before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+*.lcov
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+# Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+# uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+# poetry.lock
+# poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+# pdm.lock
+# pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+# pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi/*
+!.pixi/config.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule*
+celerybeat.pid
+
+# Redis
+*.rdb
+*.aof
+*.pid
+
+# RabbitMQ
+mnesia/
+rabbitmq/
+rabbitmq-data/
+
+# ActiveMQ
+activemq-data/
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#   JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#   be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#   and can be added to the global gitignore or merged into this file.  For a more nuclear
+#   option (not recommended) you can uncomment the following to ignore the entire idea folder.
+# .idea/
+
+# Abstra
+#   Abstra is an AI-powered process automation framework.
+#   Ignore directories containing user credentials, local state, and settings.
+#   Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#   Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore 
+#   that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#   and can be added to the global gitignore or merged into this file. However, if you prefer, 
+#   you could uncomment the following to ignore the entire vscode folder
+# .vscode/
+# Temporary file for partial code execution
+tempCodeRunnerFile.py
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Streamlit
+.streamlit/secrets.toml
+.DS_Store

microcmm-0.1.0/.python-version

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+3.12

microcmm-0.1.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 Greg Sadetsky
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

microcmm-0.1.0/PKG-INFO

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+Metadata-Version: 2.5
+Name: microcmm
+Version: 0.1.0
+Summary: Python library + CLI for MicroScribe-3D digitizer arms (RS-232, no Windows DLL)
+Project-URL: Repository, https://github.com/Revise-Robotics/microcmm
+License-Expression: MIT
+License-File: LICENSE
+Requires-Python: >=3.12
+Requires-Dist: pyserial>=3.5
+Description-Content-Type: text/markdown
+
+# microcmm
+
+Python library + CLI for reading positions from a MicroScribe-3D digitizer arm
+over its RS-232 serial port. Speaks the Immersion HCI protocol directly (no
+Windows DLL) and does the forward kinematics on the host using the arm's own
+EEPROM calibration. Millimeters everywhere.
+
+## Install
+
+```
+pip install microcmm
+# or
+uv add microcmm
+```
+
+## Usage
+
+```python
+from microcmm import MicroScribe
+
+with MicroScribe("/dev/cu.usbserial-XXXX") as ms:
+    # You should be homing right now: arm in its home pose (stylus seated
+    # in the holder and vertical, counterweight against the stylus holder).
+    ms.home()
+    # (Advanced: ms.assume_homed() if the arm is already homed this power cycle.)
+    print(ms.info.serial_number)
+    p = ms.pose()
+    print(p.x, p.y, p.z)
+```
+
+## CLI
+
+```
+microcmm <command>
+```
+
+- `info` - identify the arm, dump its calibration constants
+- `point` - read one stylus position
+- `stream` - continuously print positions
+- `capture -o points.csv` - capture points on keypress, write CSV
+- `dist` - measure distances between captured point pairs
+- `home` - set the home position (arm must be in its home pose)
+- `ports` - list serial ports
+
+## Notes
+
+- **Homing is mandatory.** The arm only reads correctly if it was in its home
+  pose (stylus seated in the holder and vertical, counterweight pressed
+  against the bottom of the stylus holder) at power-on or when `home` was
+  sent. This is lost at every power cycle. The library refuses to return
+  positions until you call `home()` or explicitly `assume_homed()` - an
+  unhomed arm produces garbage that looks plausible.
+- **Only tested on a MicroScribe-3D model D (5-DOF).** The library refuses
+  other models by precaution, not because they can't work - if you have one,
+  run with `allow_untested_models=True` and report back, we'll add it.
+- **Pedals are not implemented** because we don't have one. The raw button
+  byte is exposed on every packet if you want to try.
+- 5-DOF arms have no roll about the stylus axis; the reported orientation
+  (XYZ-fixed roll/pitch/yaw) reflects that.
+- Accuracy validated with a 45-point single-divot pivot test: 0.66 mm RMS.
+  Avoid poses with the stylus aligned with the forearm (singularity).
+- Not implemented, on purpose: analog channels, baud switching, EEPROM
+  writes (SET_PARAMS / SET_HOME / RESTORE_FACTORY), motion-report streaming,
+  custom tip offsets (MSTIP.DAT). Ask if you need one.
+
+## Dev
+
+Install dependencies with `uv sync`, then:
+
+```
+uv run pytest
+uv run ruff check src tests
+uv run mypy src tests
+```
+
+Tests run without hardware: the kinematics is checked against golden
+joint-angles-to-XYZ values captured from a real arm.

microcmm-0.1.0/README.md

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+# microcmm
+
+Python library + CLI for reading positions from a MicroScribe-3D digitizer arm
+over its RS-232 serial port. Speaks the Immersion HCI protocol directly (no
+Windows DLL) and does the forward kinematics on the host using the arm's own
+EEPROM calibration. Millimeters everywhere.
+
+## Install
+
+```
+pip install microcmm
+# or
+uv add microcmm
+```
+
+## Usage
+
+```python
+from microcmm import MicroScribe
+
+with MicroScribe("/dev/cu.usbserial-XXXX") as ms:
+    # You should be homing right now: arm in its home pose (stylus seated
+    # in the holder and vertical, counterweight against the stylus holder).
+    ms.home()
+    # (Advanced: ms.assume_homed() if the arm is already homed this power cycle.)
+    print(ms.info.serial_number)
+    p = ms.pose()
+    print(p.x, p.y, p.z)
+```
+
+## CLI
+
+```
+microcmm <command>
+```
+
+- `info` - identify the arm, dump its calibration constants
+- `point` - read one stylus position
+- `stream` - continuously print positions
+- `capture -o points.csv` - capture points on keypress, write CSV
+- `dist` - measure distances between captured point pairs
+- `home` - set the home position (arm must be in its home pose)
+- `ports` - list serial ports
+
+## Notes
+
+- **Homing is mandatory.** The arm only reads correctly if it was in its home
+  pose (stylus seated in the holder and vertical, counterweight pressed
+  against the bottom of the stylus holder) at power-on or when `home` was
+  sent. This is lost at every power cycle. The library refuses to return
+  positions until you call `home()` or explicitly `assume_homed()` - an
+  unhomed arm produces garbage that looks plausible.
+- **Only tested on a MicroScribe-3D model D (5-DOF).** The library refuses
+  other models by precaution, not because they can't work - if you have one,
+  run with `allow_untested_models=True` and report back, we'll add it.
+- **Pedals are not implemented** because we don't have one. The raw button
+  byte is exposed on every packet if you want to try.
+- 5-DOF arms have no roll about the stylus axis; the reported orientation
+  (XYZ-fixed roll/pitch/yaw) reflects that.
+- Accuracy validated with a 45-point single-divot pivot test: 0.66 mm RMS.
+  Avoid poses with the stylus aligned with the forearm (singularity).
+- Not implemented, on purpose: analog channels, baud switching, EEPROM
+  writes (SET_PARAMS / SET_HOME / RESTORE_FACTORY), motion-report streaming,
+  custom tip offsets (MSTIP.DAT). Ask if you need one.
+
+## Dev
+
+Install dependencies with `uv sync`, then:
+
+```
+uv run pytest
+uv run ruff check src tests
+uv run mypy src tests
+```
+
+Tests run without hardware: the kinematics is checked against golden
+joint-angles-to-XYZ values captured from a real arm.

microcmm-0.1.0/pyproject.toml

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+[project]
+name = "microcmm"
+version = "0.1.0"
+description = "Python library + CLI for MicroScribe-3D digitizer arms (RS-232, no Windows DLL)"
+readme = "README.md"
+license = "MIT"
+requires-python = ">=3.12"
+dependencies = [
+    "pyserial>=3.5",
+]
+
+[project.scripts]
+microcmm = "microcmm.cli:main"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/microcmm"]
+
+[dependency-groups]
+dev = [
+    "mypy>=1.14",
+    "pytest>=8",
+    "ruff>=0.9",
+]
+
+[tool.mypy]
+strict = true
+
+[[tool.mypy.overrides]]
+module = "serial.*"
+ignore_missing_imports = true
+
+[tool.ruff]
+extend-exclude = ["extras", "reference"]
+
+[project.urls]
+Repository = "https://github.com/Revise-Robotics/microcmm"

microcmm-0.1.0/src/microcmm/__init__.py

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+from .arm import Arm, NotHomedError, Pose, UnsupportedDeviceError
+from .device import MicroScribe
+from .hci import HCI, DeviceInfo, HCIError, HCITimeout, Maxes, Packet
+
+__all__ = [
+    "HCI",
+    "Arm",
+    "DeviceInfo",
+    "HCIError",
+    "HCITimeout",
+    "Maxes",
+    "MicroScribe",
+    "NotHomedError",
+    "Packet",
+    "Pose",
+    "UnsupportedDeviceError",
+]