北c9控制器的低级通信库。
north-c9的Python项目详细描述
北C9
North C9库是包装North C9控制器协议的低级库。
安装
安装north_c9
库
pip install git+https://gitlab.com/north-robotics/north_c9
在python文件顶部或python控制台中导入C9Controller
类
fromnorth_c9.controllerimportC9Controller
创建新的C9Controller
实例以连接到c9控制器
controller=C9Controller()
现在您可以移动轴、切换输出和移动N9(如果可用)
# move axis 5 to 0 countscontroller.move_axis(5,0,velocity=1000,acceleration=5000)# rotate axis 5 once (motors have 1000 counts / revolution)controller.move_axis(5,1000,velocity=1000,acceleration=5000,relative=True)# start spin axis 5controller.spin_axis(5,velocity=1000,acceleration=5000)# stop spinning axis 5controller.spin_axis_stop(5)# turn output 0 on and offcontroller.output(0,True)controller.output(0,False)controller.output_toggle(0)# home the N9controller.home()# move the N9 to x=0 mm, y=150 mm, z=150 mm and gripper=90 degcontroller.move_arm(0,150,150,gripper=90)