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Denso RC8 Python API

Author: Jacob Taylor Cassady (jtcass01@louisville.edu) - Undergraduate Research Assistant

University of Louisville J.B. Speed School of Engineering

Next Generation Systems Robotics Lab

1 : Description

Python API for Denso RC8 with a RC8-native server written in PacScript. NGS is interested in removing Labview from the control loop and interfacing with the RC8 directly to ensure well defined instruction sets.

2 : 3rd Part Dependencies

2.1 Operating System

2.2 Frameworks

2.3 Python Modules

3 : Usage

3.1 : Starting the PacScript RC8 Server

  • Turn on the RC8 Controller.

  • On the RC8 controller, under settings, set the robot's executable token to TP and the robot's control mode to 'Auto'.

  • Start the program named 'common.pcs'.

  • Turn the motor of the robot on.

3.2 : Starting the ROS Server Components

3.2.1 : Initializing the environment

  • Open a new commandline

  • Navigate to directory: denso_rc8_api/src/ngs_ros/

  • Delete the directories 'build' and 'devel'. (Only required the first time)

  • Run the following commands:

	source /opt/ros/[YOUR_ROS_DISTRO]/setup.bash
	catkin_make
	source ./devel/setup.bash
	roscore

3.2.2 : Starting the NGS RC8 API Server Node

This server parses and forwards commands to the RC8 PacScript Server.

  • Open a new commandline

  • Navigate to directory: denso_rc8_api/src/ngs_ros/

  • Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api rc8_api_server.py

3.2.3 : (Optional) Starting a communication channel with the NGS RC8 API Node

  • Open a new commandline

  • Navigate to directory: denso_rc8_api/src/ngs_ros/

  • Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api api_communication_channel.py

3.2.4 : (Optional) Starting a robot state machine to interfaces with the NGS RC8 API Server Node

  • Open a new commandline

  • Navigate to directory: denso_rc8_api/src/ngs_ros/

  • Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api robot.py

3.2.5 : (Optional) Starting a controller to send commands to a robot state machine.

  • Open a new commandline

  • Navigate to directory: denso_rc8_api/src/ngs_ros/

  • Run the following commands:

	source ./devel/setup.bash
	rosrun ngs_denso_rc8_api controller.py

3.3 : API Functionality

3.3.1 : Implemented Commands

3.3.1.1 : Move Command

To move the robot to the designated coordinates.

3.3.1.1.1 : Supported DataTypes
3.3.1.1.2 : Supported Interpolation Methods
3.3.1.1.3 : Command Examples

Syntax: Move motion interpolation,target position

  • Position Example
Move L, P( 600, 50, 400, 180, 0, 180, -1 )
  • Joint Example
Move P, J(10, 20, 30, 40, 50, 60, 70, 80)
3.3.1.2 : Draw Command

To move from the current position to a relative position.

3.3.1.2.1 : Supported DataTypes
3.3.1.2.2 : Supported Interpolation Methods
3.3.1.2.3 : Command Examples

Syntax: Move motion interpolation,target position

  • Example
Draw L, V( 50, 10, 50 )

4 : References