uArm python library designed by Joey Song ( [email protected] / [email protected])

Install this library along with pyfirmata-uarm. Install this library before you use UArm For Python

In uarm, install FIRMATA-EEPROM-StandardFirmataEEPROM.ino after you calibrate uarm - Check here to see How to calibrate

Then install/copy UArmForPython in the directory as the same as pyfirmata.

Uarm()

Exameples:

uarm = Uarm('/dev/ttyUSB0')

servoAttach(servo_number)

servoDetach(servo_number)

Exameples:

uarm.servoAttach(1)

uarmAttach()

uarmDetach()

Need to attach servo first

writeServoAngle(servo_number,angle)

writeAngles(servo_1,servo_2,servo_3,servo_4)

Exameples:

uarm.writeServoAngle(1,150)

return type - float readAngle(servo_number)

Exameples:

print uarm.readAngle(1)

return type - float

currentX()

currentY()

currentZ()

currentCoord()

moveTo(x,y,z)

add time parameter

moveToWithTime(x,y,z,timeSpend)

control servo_4 and time at the same time. servo_4_relative should be 1 or 0

moveToWithS4(x,y,z,timeSpend,servo_4_relative,servo_4)

Exameples:

uarm.moveTo(10,-15,15)

pumpOn()

pumpOff()

return type - True/False

stopperStatus()