Conveyor

This file presents the different api_doc/conveyor:Conveyor - Command functions, api_doc/conveyor:Conveyor - Enums, api_doc/conveyor:Conveyor - Niryo Topics & api_doc/conveyor:Conveyor - Namedtuple available with the Arm API

Conveyor - Command functions

This section reference all existing functions to control your robot, which include

  • Controlling conveyors

All functions to control the robot are accessible via an instance of the class api_doc/niryo_robot:NiryoRobot

robot = NiryoRobot(<robot_ip_address>)

conveyor_id = robot.conveyor.set_conveyor()
robot.conveyor.run_conveyor(conveyor_id)
...

See examples on Examples Section

List of functions subsections:

Conveyor functions

class pyniryo2.conveyor.conveyor.Conveyor(client)

Conveyor robot functions

Example:

ros_instance = NiryoRos("10.10.10.10") # Hotspot
conveyor_interface = Conveyor(ros_instance)
Parameters:

client (NiryoRos) – Niryo ROS client

set_conveyor()

Scan if a conveyor is plugged or not on a can bus. If a new conveyor is detected, activate it and return its conveyor ID. If a conveyor is already set, return its ID

Example:

# Get the id of the conveyor plugged
conveyor_id = conveyor.set_conveyor()

# Scan and set the conveyor plugged
conveyor.set_conveyor()

:return : New conveyor ID :rtype: ConveyorID

unset_conveyor(conveyor_id)

Remove and unset a conveyor previously plugged and set

Example:

conveyor_id = conveyor.set_conveyor()
conveyor.unset_conveyor(conveyor_id)
conveyor.unset_conveyor(ConveyorID.ID_1)
conveyor.unset_conveyor(ConveyorID.ID_2)
Parameters:

conveyor_id (ConveyorID) – Basically, ConveyorID.ID_1 or ConveyorID.ID_2

Return type:

None

run_conveyor(conveyor_id, speed=100, direction=ConveyorDirection.FORWARD)

Run conveyor at id ‘conveyor_id’

Example:

# Set the conveyor and get its id and un it. 
# By default, the conveyor will go forward at a speed of 50
# You can't choose the parameters with this method

conveyor_id = conveyor.set_conveyor()
conveyor.run_conveyor(conveyor_id)
Parameters:

  • conveyor_id (ConveyorID) – The conveyor id

  • speed (int) – speed percentage between 0% and 100%

  • direction (ConveyorDirection) – direction = ConveyorDirection.FORWARD

Return type:

None

stop_conveyor(conveyor_id)

Stop conveyor at id ‘conveyor_id’

Example:

# Set the conveyor and get its id, run it and then stop it after 3 seconds
# By default, the conveyor will go forward at a speed of 50
# When the conveyor is stopped, its control_on parameter is False and its speed is 0

import time

conveyor_id = conveyor.set_conveyor()
conveyor.run_conveyor(conveyor_id)
time.sleep(3)
conveyor.stop_conveyor(conveyor_id)
Parameters:

conveyor_id (ConveyorID)

Return type:

None

control_conveyor(conveyor_id, control_on, speed, direction)

Control conveyor associated to conveyor_id. Then stops it if bool_control_on is False, else refreshes it speed and direction

Example:

# Example 1
# Set the conveyor and get its id, control it and then stop it after 3 seconds
# It this first example, we control the conveyor at a speed of 100% and in the forward direction

import time

conveyor_id = conveyor.set_conveyor()
conveyor.control_conveyo(conveyor_id, True, 100, ConveyorDirection.FORWARD.value)
time.sleep(3)
conveyor.stop_conveyor(conveyor_id)
# Example 2

# Set the conveyor and get its id, control it and then stop it after 3 seconds # It this second example, we control the conveyor at a speed of 30% and in the backward direction

import time

conveyor_id = conveyor.set_conveyor() conveyor.control_conveyor(conveyor_id, True, 30, ConveyorDirection.BACKWARD.value) time.sleep(3) conveyor.stop_conveyor(conveyor_id)

Parameters:

  • conveyor_id (ConveyorID)

  • control_on (bool) – True for activate, False for deactivate

  • speed (int) – New speed which is a percentage of maximum speed (0% to 100%)

  • direction (ConveyorDirection) – ConveyorDirection.FORWARD.value, ConveyorDirection.BACKWARD.value

Return type:

None

property get_conveyors_feedback

Returns the conveyors feedback client which can be used synchronously or asynchronously to obtain the conveyors feedback: (conveyor_id, connection_state, running, speed, direction)

Examples:

# Get last value
arm.get_conveyors_feedback()
arm.get_conveyors_feedback.value

# Subscribe a callback
def conveyor_callback(conveyor_feedback):
    print conveyor_feedback

arm.hardware_status.subscribe(conveyor_callback)
# wait
arm.hardware_status.unsubscribe()
Returns:

namedtuple[conveyor_id, running, speed, direction]

Return type:

namedtuple(ConveyorID, bool, int, ConveyorDirection)

property conveyors

Return list of registered conveyors

Returns:

namedtuple[conveyor_id, running, speed, direction]

Return type:

namedtuple(ConveyorID, bool, int, ConveyorDirection)

Conveyor - Niryo Topics

The use of these functions is explained in the api_doc/niryo_topics:NiryoTopic section. They allow the acquisition of data in real time by callbacks or by direct call.

Conveyors’s Niryo Topics

Name

Function

Return type

/niryo_robot/conveyor/feedback

get_conveyors_feedback

list [ ConveyorInfo ]

Conveyor - Enums

List of enums:

  • ConveyorID

  • ConveyorDirection

  • ConveyorStatus

class pyniryo2.conveyor.enums.ConveyorID(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

ConveyorID to be able to have CAN (id 12 and 13) and TTL (id 9 and 10) conveyor in any possible combination

ID_1 = 12 # One, Ned ID_2 = 13 # One, Ned ID_3 = 9 # Ned2 ID_4 = 10 # Ned2

NONE = 0
ID_1 = -1
ID_2 = -2
class pyniryo2.conveyor.enums.ConveyorCan(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

ConveyorID to control conveyors with CAN interface

NONE = 0
ID_1 = 12
ID_2 = 13
class pyniryo2.conveyor.enums.ConveyorTTL(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

ConveyorID to control conveyors with TTL interface

NONE = 0
ID_1 = 9
ID_2 = 10
class pyniryo2.conveyor.enums.ConveyorDirection(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Enumeration of the directions of the conveyor

FORWARD = 1
BACKWARD = -1
class pyniryo2.conveyor.enums.ConveyorStatus(value, names=<not given>, *values, module=None, qualname=None, type=None, start=1, boundary=None)

Enumeration of the different Conveyor status

ADD = 1
REMOVE = 2

Conveyor - Namedtuple

class pyniryo2.conveyor.objects.ConveyorInfo(conveyor_id, running, speed, direction)

Create new instance of ConveyorInfo(conveyor_id, running, speed, direction)

conveyor_id

Alias for field number 0

direction

Alias for field number 3

running

Alias for field number 1

speed

Alias for field number 2