Robotics Basics ======================================= .. toctree:: :maxdepth: 5 Instantiated Robot ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``RPC(ip)``" "Description", "Instantiating a robot object" "Required parameter", "- ``ip``:The IP address of the robot, with a default factory IP of “192.168.58.2”" "Optional parameter", "NULL" "Return value", "- Success: Returns a robot object - Failed: The created object will be destroyed" Close the RPC connection ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``CloseRPC()``" "Description", "Close RPC connection" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "NULL" Query SDK version number ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``GetSDKVersion()``" "Description", "Query SDK version number" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- Error Code Success-0 Fail-errcode - ``sdk``: SDK version number, controller version number" Get controller IP +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetControllerIP()``" "Description", "Query Controller IP" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``ip``: controller IP" Controlling the robot into and out of drag-and-drop instructor mode ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``DragTeachSwitch(state)``" "Description", "Controls the robot into and out of drag-and-drop demonstration mode." "Mandatory parameter", "- ``state``: 1-entry into drag-indicator mode, 0-exit from drag-indicator mode" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Queries whether the robot is in drag mode ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``IsInDragTeach()``" "Description", "Queries whether the robot is in drag-and-drop demonstration mode." "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``state``: 0 - non-drag instructional mode, 1 - drag instructional mode" Control robot up-enable or down-enable ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``RobotEnable(state)``" "Description", "Control robot up-enable or down-enable" "Mandatory parameters", "- ``state``: 1 - up enable, 0 - down enable" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode " Control of robot hand-automatic mode switching ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. csv-table:: :stub-columns: 1 :widths: 10 30 "prototype", "``Mode(state)``" "description", "control robot hand auto mode switching" "Mandatory parameters", "- ``state``: 0 - automatic mode, 1 - manual mode" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode" Shut down the robot operating system +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``ShutDownRobotOS()``" "Description", "Shut down the robot operating system" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "Error Code Success-0 Failure- errcode " Initialize the log parameters +++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.1.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``LoggerInit(output_model=1, file_path="", file_num=5)``" "Description", "Initialize the log parameters" "Mandatory parameters", "NULL" "Default parameters", "- ``output_model``：Output mode, 0- Direct output; 1- Buffered output; 2- Asynchronous output, default 1 - ``file_path``：File path + name, the name must be XXX. The log form, such as/home/fr. / Linux/fairino log. The default path where the program is executed, with the default name fairino_year +month+data.log(e.g., fairino_2024_03_13.log); - ``file_num``：The number of files for rolling storage ranges from 1 to 20, with a default value of 5. The upper limit for a single file is 50M." "Return Value", "Error Code Success-0 Failure- errcode " Setting the log filter level +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.2 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``SetLoggerLevel(lvl=1)``" "Description", "Set log filter level" "Mandatory parameters", "NULL" "Default Parameters","- ``lvl``: filter level value, the smaller the value the less output logs, 1-error, 2-warnning, 3-inform, 4-debug, default value is 1" "Return Value", "Error Code Success-0 Failure- errcode" Robot base control code example +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: from fairino import Robot # Establish a connection with the robot controller and return a robot object if the connection is successful robot = Robot.RPC('192.168.58.2') error,version = robot.GetSDKVersion() print(f"SDK version: {version}") error,ip = robot.GetControllerIP() print(f"controller ip: {ip}") robot.Mode(1) time.sleep(1) robot.DragTeachSwitch(state=1) time.sleep(1) error,state = robot.IsInDragTeach() print(f"drag state: {state}") time.sleep(3) robot.DragTeachSwitch(state=0) time.sleep(1) error,state = robot.IsInDragTeach() print(f"drag state: {state}") time.sleep(3) robot.RobotEnable(0) time.sleep(3) robot.RobotEnable(1) robot.Mode(0) time.sleep(1) robot.Mode(1) robot.CloseRPC() Get the software version of the robot ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetSoftwareVersion()``" "Description", "Get the software version of the robot" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``robotModel``: robot model - ``webVersion``: web version - ``controllerVersion``: controller version" Getting robot hardware version information ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetSlaveHardVersion()``" "Description", "Get robot hardware version information" "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``ctrlBoxBoardVersion``: control box version - ``driver1Version`` - ``driver2Version`` - ``driver3Version`` - ``driver4Version`` - ``driver5Version`` - ``driver6Version`` - ``endBoardVersion``" Getting robot firmware version information ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. versionadded:: python SDK-v2.0.1 .. csv-table:: :stub-columns: 1 :widths: 10 30 "Prototype", "``GetSlaveFirmVersion()``" "Description", "Get information about the robot's firmware version." "Mandatory parameters", "NULL" "Default parameters", "NULL" "Return Value", "- errorcode Success-0 Failure- errcode - ``ctrlBoxBoardVersion``: control box version - ``driver1Version`` - ``driver2Version`` - ``driver3Version`` - ``driver4Version`` - ``driver5Version`` - ``driver6Version`` - ``endBoardVersion``" Get the robot software firmware version code sample +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ .. code-block:: python :linenos: from fairino import Robot # Establish a connection with the robot controller and return a robot object if the connection is successful robot = Robot.RPC('192.168.58.2') rtn,robotModel, webversion, controllerVersion = robot.GetSoftwareVersion() print(f"Getsoftwareversion rtn is: {rtn}") print(f"robotmodel is: {robotModel}, webversion is: {webversion}, controllerVersion is: {controllerVersion}\n") rtn,ctrlBoxBoardversion, driver1version, driver2version,driver3version, driver4version, driver5version,driver6version, endBoardversion = robot.GetHardwareversion() print(f"GetHardwareversion rtn is: {rtn}") print(f"GetHardwareversion get hardware version is: {ctrlBoxBoardversion}, {driver1version}, {driver2version}, " f"{driver3version}, {driver4version}, {driver5version}, {driver6version}, {endBoardversion}\n") rtn,ctrlBoxBoardversion, driver1version, driver2version,driver3version, driver4version, driver5version,driver6version, endBoardversion = robot.GetFirmwareVersion() print(f"GetFirmwareversion rtn is: {rtn}") print(f"GetFirmwareversion get firmware version is: {ctrlBoxBoardversion}, {driver1version}, {driver2version}, " f"{driver3version}, {driver4version}, {driver5version}, {driver6version}, {endBoardversion}\n") robot.CloseRPC()