ctu_crs.crs_robot
=================

.. py:module:: ctu_crs.crs_robot


Classes
-------

.. autoapisummary::

   ctu_crs.crs_robot.CRSRobot


Module Contents
---------------

.. py:class:: CRSRobot(tty_dev = '/dev/mars', baudrate = 19200, **crs_kwargs)

   .. py:attribute:: _mars


   .. py:attribute:: link_lengths


   .. py:attribute:: _deg_to_irc


   .. py:attribute:: _motors_ids
      :value: 'ABCDEF'



   .. py:attribute:: _hh_rad


   .. py:attribute:: _hh_irc


   .. py:attribute:: _hh_sequence
      :value: []



   .. py:attribute:: q_min


   .. py:attribute:: q_max


   .. py:attribute:: q_home


   .. py:attribute:: _default_speed_irc256_per_ms


   .. py:attribute:: _min_speed_irc256_per_ms


   .. py:attribute:: _max_speed_irc256_per_ms


   .. py:attribute:: _default_acceleration_irc_per_ms


   .. py:attribute:: _min_acceleration_irc_per_ms


   .. py:attribute:: _max_acceleration_irc_per_ms


   .. py:attribute:: gripper


   .. py:attribute:: _REGME
      :value: [32000, 32000, 32000, 32000, 32000, 32000]



   .. py:attribute:: _REGP
      :value: [10, 12, 70, 35, 45, 100]



   .. py:attribute:: _REGI
      :value: [80, 63, 50, 80, 65, 300]



   .. py:attribute:: _REGD
      :value: [300, 200, 200, 130, 230, 350]



   .. py:attribute:: _REGCFG
      :value: [1489, 1490, 1490, 1481, 1474, 1490]



   .. py:attribute:: _IDLEREL
      :value: 1200



   .. py:attribute:: _timeout
      :value: 200



   .. py:attribute:: dh_offset


   .. py:attribute:: dh_d


   .. py:attribute:: dh_a


   .. py:attribute:: dh_alpha


   .. py:attribute:: _initialized
      :value: False



   .. py:attribute:: _camera
      :type:  ctu_crs.basler_camera.BaslerCamera | None
      :value: None



   .. py:attribute:: _camera_name
      :type:  str


   .. py:method:: grab_image(timeout=10000)


   .. py:method:: release()

      Release errors and reset control unit.



   .. py:method:: reset_motors()

      Reset motors of robot.



   .. py:method:: close()

      Close connection to the robot.



   .. py:method:: initialize(home = True)

      Initialize communication with robot and set all necessary parameters.
      This command will perform following settings:
       - synchronize communication with mars control unitπ
       - reset motors and wait for them to be ready
       - set PID control parameters, maximum speed and acceleration
       - set value for IDLE release
       - perform hard home and soft home, if @param home is True



   .. py:method:: _joint_values_to_irc(joint_values)

      Convert joint values [rad] to IRC.



   .. py:method:: _irc_to_joint_values(irc)

      Convert IRC to joint values [rad].



   .. py:method:: set_speed(speed_irc256_ms)

      Set speed for each motor in IRC*256/msec.



   .. py:method:: set_speed_relative(fraction)

      Set speed for each motor in fraction (0-1) of maximum speed.



   .. py:method:: set_acceleration(acceleration_irc_ms)

      Set acceleration for each motor in IRC/msec.



   .. py:method:: set_acceleration_relative(fraction)

      Set acceleration for each motor in fraction (0-1) of maximum acceleration.



   .. py:method:: hard_home()

      Perform hard home of the robot s.t. prismatic joint is homed first followed
      by joint A, B, and D. The speed is reset to default value before homing.



   .. py:method:: soft_home()

      Move robot to the home position using coordinated movement.



   .. py:method:: move_to_q(q)

      Move robot to the given joint configuration [rad] using coordinated movement.
      Initialization has be called before to set up coordinate movements.



   .. py:method:: get_q()

      Get current joint configuration.



   .. py:method:: in_motion()

      Return whether the robot is in motion.



   .. py:method:: wait_for_motion_stop()

      Wait until the robot stops moving.



   .. py:method:: in_limits(q)

      Return whether the given joint configuration is in joint limits.



   .. py:method:: dh_to_se3(d, theta, a, alpha)
      :staticmethod:


      Compute SE3 matrix from DH parameters.



   .. py:method:: fk_flange_pos(q)

      Compute forward kinematics for the given joint configuration @param q.
      Returns 3D position of the flange w.r.t. base of the robot.



   .. py:method:: fk(q)

      Compute forward kinematics for the given joint configuration @param q.
      Returns 4x4 homogeneous transformation matrix (SE3) of the flange w.r.t.
      base of the robot.



   .. py:method:: _ik_flange_pos(flange_pos, singularity_theta1=0)

      Solve IK for position of the flange. This implementation supports only the
      robot configurations that are above the ground.



   .. py:method:: ik(pose)

      Compute inverse kinematics for the given pose. Returns array of joint
      configurations [rad] which can achieve the given pose.
      :param pose: 4x4 homogeneous transformation matrix (SE3) of the flange with respect to the base of the robot.