API reference for Py-EDScorbotTool

Graphical interface powered by Tkinter

class pyEDScorbotTool.pyAER.pyEDScorbotTool(visible=True)

py-EDScorbotTool software, replacement of jAER filter for EDScorbot

This class is used for establishing a communication with ED-Scorbot Robot in order to be able to control it via neuromorphic control, also called SPID

Variables

• self.d – Dictionary in which there are stored the variables that allow for SPID configuration. Every input of the graphical interface corresponds to a variable that is stored in this dictionary. It contains three other dictionaries: Motor Config, Joints and Scan Parameters, which in turn hold the corresponding variables. The keys for the dictionaries are “Motor Config”, “Joints” and “Scan Parameters”, respectively.

• self.visible – Boolean variable that indicates whether the graphical interface should be rendered or not

• self.root – Root of the graphical interface’s window

• self.checked_usb – Variable that holds the state of the checkbox that indicates whether USB is enabled or not.

ConfigureInit()

Set current position as initial

This function sets the current position of each joint as the initial position. This means that, after this function is called, the current position will match the position with a reference of 0

ConfigureLeds()

Under development

ConfigureSPID()

Program SPID parameters and command a movement to all the joints

It calls sendCommandJoint1-6 and sends the parameters needed to configure the SPID controller as well as the reference specified

ConfigureSPID_allJoints()

Same as ConfigureSPID but it doesn’t print the information in the console

Draw8xy()

Under development

Read_J1_pos()

Read position of the first joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J1 position

Returns

Position of J1 or -1 if something went wrong

Return type

int

Read_J2_pos()

Read position of the second joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J2 position

Returns

Position of J2 or -1 if something went wrong

Return type

int

Read_J3_pos()

Read position of the third joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J3 position

Returns

Position of J3 or -1 if something went wrong

Return type

int

Read_J4_pos()

Read position of the fourth joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J4 position

Returns

Position of J4 or -1 if something went wrong

Return type

int

Read_J5_pos()

Read position of the fifth joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J5 position

Returns

Position of J5 or -1 if something went wrong

Return type

int

Read_J6_pos()

Read position of the sixth joint

This function makes combined use of sendCommand16 and readSensor functions to retrieve J6 position

Returns

Position of J6 or -1 if something went wrong

Return type

int

SendCommandJoint1(ref)

Send reference to 1st joint

This function allows to send a reference to the 1st joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint1_lite()

Send only reference to 1st joint

This function allows to send a reference to the 1st joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint2(ref)

Send reference to 2nd joint

This function allows to send a reference to the 2nd joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint2_lite()

Send only reference to 2nd joint

This function allows to send a reference to the 2nd joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint3(ref)

Send reference to 3rd joint

This function allows to send a reference to the 3rd joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint3_lite()

Send only reference to 3rd joint

This function allows to send a reference to the 3rd joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint4(ref)

Send reference to 4th joint

This function allows to send a reference to the 4th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint4_lite()

Send only reference to 4th joint

This function allows to send a reference to the 4th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint5(ref)

Send reference to 5th joint

This function allows to send a reference to the 5th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint5_lite()

Send only reference to 5th joint

This function allows to send a reference to the 5th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint6(ref)

Send reference to 6th joint

This function allows to send a reference to the 6th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendCommandJoint6_lite()

Send only reference to 6th joint

This function allows to send a reference to the 6th joint in order to move it, reference to angle are mapped in angle_to_ref function

SendFPGAReset()

Command the FPGA to force an internal reset

This function tells the FPGA to reset, in order to restore its initial configuration in case something is not working properly

SendFPGAReset_joint(joint)

Command the FPGA to force an internal reset

This function tells the FPGA to reset, in order to restore its initial configuration in case something is not working properly

SetAERIN_ref()

Not used

SetUSBSPI_ref()

Not used

SwitchOffLEDS()

Under development

alert(text)

This function creates a messagebox with the text parameter as data

Useful to alert the user that something has gone wrong; to indicate successful procedures, please just print to console using print()

Parameters

text (str) – Text to be displayed in the box

static angle_to_ref(motor, angle)

Convert angle of motor to reference

This function takes a motor and an angle and returns the corresponding reference to said angle for that specific motor.

Parameters

• motor (int) – Number of the motor (1-4)

• angle (int) – angle to be converted

• strict (boolean) – Whether to restrict reference values to ther maximum bounds or not (default is True)

Returns

Reference that corresponds to the angle given for the given motor or the joint’s limit if the calculated reference is above (or below) it

Return type

float

checkRemote()

Check wether remote usage has been enabled or not

This function reads the checked_remote self variable to determine whether remote connection has been enabled or not

If it has, then tries to connect to MQTT broker and sets self.mqtt to the mqtt client

If it hasn’t, it disconnects from the broker

checkUSB()

Check wether USB usage has been enabled or not

This function reads the checked_usb self variable to determine whether USB connection has been enabled or not

If it has, then tries to connect to AERNode board and sets self.dev to the device handlerconnect

If it hasn’t, it disconnects from the device

static count_to_angle(motor, count)

Convert counter of motor to estimated angle

This function takes a motor and its collected position and returns the corresponding estimated angle to said position for that specific motor.

Parameters

• motor (int) – Number of the motor (1-4)

• count (int) – Position counter to be converted

Returns

Estimated angle that corresponds to the position given for the given motor

Return type

float

static count_to_ref(motor, count)

Convert counter of motor to reference

This function takes a motor and its collected position and returns the corresponding reference to said position for that specific motor.

Parameters

• motor (int) – Number of the motor (1-4)

• count (int) – Position counter to be converted

Returns

Reference that corresponds to the position given for the given motor

Return type

float

dumpConfig()

Dump current configuration

This function dumps current config (the one being displayed in the GUI) to a JSON file named “config.json”

Generated config file is also printed in console

init_config()

Load initial config

This function tries to load the initial configuration for the program containing all the necessary values that make the SPID control work properly. There must be an “initial_config.json” file for this to work properly and, in case you are missing it, you can download the file directly from the latest master branch of the repository

loadConfig(visible=True)

Load configuration in an extern .json file

This function allows users to load a json file containing a valid configuration file, just as the ones generated with the dumpConfig function

Also works without gui, just pass the correspondent argument to the –config option

millis_now()

This function returns the time at the moment of the call in milliseconds

readSensor(sensor)

Read a joint’s position sensor

This function allows for a joint sensor to be read, so that you are able to know a joint’s position in any given moment

Parameters

sensor (int) – The number of the sensor to be read, ranging from 1 to 6

Returns

Sensor position if everything went well or -1 if something went wrong

Return type

int

static ref_to_angle(motor, ref, strict=True)

Convert reference of motor to angle

This function takes a motor and a reference and returns the corresponding angle to said reference for that specific motor

Parameters

• motor (int) – Number of the motor (1-4)

• ref (int) – reference to be converted

• strict (boolean) – Whether to restrict angle values to ther maximum bounds or not (default is True)

Returns

Angle that corresponds to the reference given for the given motor or the joint’s limit if the calculated reference is above (or below) it

Return type

float

static ref_to_count(motor, ref)

Convert reference of motor to counter (estimated) absolute position

This function takes a motor and an arbitrary reference and returns the corresponding estimated position for said reference for that specific motor.

Parameters

• motor (int) – Number of the motor (1-4)

• ref (int) – Reference to be converted

Returns

Absolute estimated position that corresponds to the reference given for the given motor

Return type

float

render_buttons(row, col)

Create the buttons that will be bounded to all different usable actions

Parameters

• row (int) – Row of the grid in which the buttons will be displayed

• col (int) – Column of the grid in which the buttons will be displayed

render_dynapse2(row, col)

Create the Threshold and Reset counters paramters

Each variable created is stored in the “Dynapse2” dictionary and can be accessed directly using the name that appears on the graphical interface

Parameters

• row (int) – Row of the grid in which the inputs will be displayed

• col (int) – Column of the grid in which the inputs will be displayed

Returns

Labelframe in which the inputs are rendered

render_gui()

Top level GUI routine

This function serves as a top routine for rendering all GUI widgets. It calls each function that renders a component, and assigns them a place in the top window.

Layout changes may be made here: just change the column and row of the component to render in its call to adjust it to your own needs

render_joints(row, col)

Create joints text entries

These entries are read-only, as they will contain the joints measures read from the encoders

Each variable created is stored in the “Joints” dictionary and can be accessed directly using the name that appears on the graphical interface

Parameters

• row (int) – Row of the grid in which the inputs will be displayed

• col (int) – Column of the grid in which the inputs will be displayed

Returns

LabelFrame in which the entries are rendered

render_motor(motor_number, row, col)

Create the inputs for 1 motor

Each variable created is stored in the “Motor Config” dictionary and can be accessed directly using the name that appears on the graphical interface

Parameters

• motor_number (int) – Number of the motor to be rendered

• row (int) – Row of the grid in which the inputs will be displayed

• col (int) – Column of the grid in which the inputs will be displayed

Returns

Labelframe in which the inputs are rendered

render_progressbar(row, col)

Create the progress bar to indicate trajectory execution %

Parameters

• row (int) – Row of the grid in which the buttons will be displayed

• col (int) – Column of the grid in which the buttons will be displayed

render_scan_parameters(row, col)

Create the Scan Parameters inputs

Each variable created is stored in the “Scan Parameters” dictionary and can be accessed directly using the name that appears on the graphical interface

Parameters

• row (int) – Row of the grid in which the inputs will be displayed

• col (int) – Column of the grid in which the inputs will be displayed

Returns

Labelframe in which the inputs are rendered

render_usbEnable(row, col)

Create the checkbox that enables opening USB devices

The value of the box is stored in the checked_usb variable available in the class (self.checked_usb)

Parameters

• row (int) – Row of the grid in which the checkbox will be displayed

• col (int) – Column of the grid in which the checkbox will be displayed

resetUSB()

Reset USB connection

This function resets USB connection by closing and then reopening the device

scanMotor1()

Scan Motor 1

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

scanMotor2()

Scan Motor 2

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

scanMotor3()

Scan Motor 3

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

scanMotor4()

Scan Motor 4

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

scanMotor5()

Scan Motor 5

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

scanMotor6()

Scan Motor 2

This function commands the robot to perform the scan procedure defined by the 4 Scan Parameters (available in the dictionary as “Scan Parameters”)

These functions (scanMotor1-6) can be used to obtain data that can be later be displayed in different graphs

search_Home_J1()

Search Home position for joint 1

This function uses search_Joint_home function to search the home position of joint 1

search_Home_J2()

Search Home position for joint 2

This function uses search_Joint_home function to search the home position of joint 2

search_Home_J3()

Search Home position for joint 3

This function uses search_Joint_home function to search the home position of joint 3

search_Home_J4()

Search Home position for joint 4

This function uses search_Joint_home function to search the home position of joint 4

search_Home_J5()

Search Home position for joint 5

This function uses search_Joint_home function to search the home position of joint 5

search_Home_J6()

Search Home position for joint 6

This function uses search_Joint_home function to search the home position of joint 6

search_Home_all()

Search Home position for all joints

This function uses search_Joint_home function to search the home position of all joints

Be careful: this function won’t stop execution until it has completely finished rendering the graphical interface stuck in the process, so bear that in mind when using it

search_Joint_home(JOINTNUM, pol)

Implement the method of searching a joint’s home.

First it moves the joint until it hits one of its limits, then progressively moves the joint in the opposite direction until the controller receives the home signal from the joint

Parameters

• JOINTNUM (int) – Number of the joint we want to find home position for

• pol (int) – 1 or -1, depending on the joint

sendCommand16(cmd, data1, data2, spiEnable)

Send 2 bytes of data and an address via USB to robot’s infrastructure

This function allows to send 2 bytes of data to a specific address to the AERNode board via USB

Parameters

• cmd (int) – Address to which data will be sent

• data1 (byte) – Byte 1 of data

• data2 (byte) – Byte 2 of data

• spiEnable (bool) – Legacy option not to break anything, always True in this program

send_Home_J1()

Send Joint 1 to current home position

This function uses sendCommand16 to send the first joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_J2()

Send Joint 2 to current home position

This function uses sendCommand16 to send the second joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_J3()

Send Joint 3 to current home position

This function uses sendCommand16 to send the third joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_J4()

Send Joint 4 to current home position

This function uses sendCommand16 to send the fourth joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_J5()

Send Joint 5 to current home position

This function uses sendCommand16 to send the fifth joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_J6()

Send Joint 6 to current home position

This function uses sendCommand16 to send the sixth joint to its current home position, which is specified by passing ‘0’ as reference

send_Home_all()

Send Joint 1-6 to current home position

This function uses sendCommand16 to send all joints to its current home position, using send_Home_JX functions, with X being the joint’s number

send_dynapse2()

Sends dynapse2 filter threshold and reset for joint1 now.

test_load(visible=False)

Load configuration in an extern .json file

This function allows users to load a json file containing a valid configuration file, just as the ones generated with the dumpConfig function

traj_to_json()

[[q1],q2],q3],q4] to [r1,r2,r3,r4,r5,r6] with padding input file is .npy in qx format