norkator / nx100-remote-control Goto Github PK

Some simple ones like now but extend it to reach all commands.

MOVJ => Joint motion moves.. can reach 100% speeds so must make it more "dummy secure"

It would be nice to have the controller written like ROS style, here is one example:

moveL.go(arm_joints, wait=True)
#moveL.stop()

which MoveL is the commander class, and one arg "wait" indicating if the program should wait untill the movement is done.

Values would be queried trough i2c

Great work!

Please add detailed explanation of the configuration of the NX100 controller, how to configure on witch Lan port, and so on. If you can, please add some pictures

Thanks!

Function takes wanted position as input, return True when reached. Used in while loop but not on this api.

for MoveL, need to specify that the value of "motion_speed_selection" for translation or rotation control. e,g,:
set "motion_speed_selection" to 0 for post speed (which is for speed control)
set "motion_speed_selection" to 1 for posture speed (which is for speed control)