WIP: Large addition of preciseflex backend api and robot_testing_script

Author: miikee

pylabrobot/arms/backend.py

@@ -16,15 +16,15 @@ async def get_position(self) -> tuple[float, float, float]:
         """Get the current position of the arm in 3D space."""
         ...
 
-    @abstractmethod
-    async def set_speed(self, speed: float):
-        """Set the speed of the arm's movement."""
-        ...
-
-    @abstractmethod
-    async def get_speed(self) -> float:
-        """Get the current speed of the arm's movement."""
-        ...
+    # @abstractmethod
+    # async def set_speed(self, speed: float):
+    #     """Set the speed of the arm's movement."""
+    #     ...
+
+    # @abstractmethod
+    # async def get_speed(self) -> float:
+    #     """Get the current speed of the arm's movement."""
+    #     ...
 
     @abstractmethod
     async def open_gripper(self):

pylabrobot/arms/precise_flex/PreciseFlexBackend.py

@@ -0,0 +1,93 @@
+from pylabrobot.arms.backend import ArmBackend
+from pylabrobot.arms.precise_flex.preciseflex_api import PreciseFlexBackendApi
+
+
+class PreciseFlexBackend(ArmBackend):
+  """UNTESTED - Backend for the PreciseFlex robotic arm"""
+  def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
+    super().__init__()
+    self.api = PreciseFlexBackendApi(host=host, port=port, timeout=timeout)
+
+  async def setup(self):
+    """Initialize the PreciseFlex backend."""
+    await self.api.setup()
+    await self.set_pc_mode()
+    await self.power_on_robot()
+    await self.attach()
+
+  async def stop(self):
+    """Stop the PreciseFlex backend."""
+    await self.detach()
+    await self.power_off_robot()
+    await self.exit()
+    await self.api.stop()
+
+  async def get_position(self):
+    """Get the current position of the robot."""
+    return await self.api.where_c()
+
+  async def attach(self):
+    """Attach the robot."""
+    await self.api.attach(1)
+
+  async def detach(self):
+    """Detach the robot."""
+    await self.api.attach(0)
+
+  async def home(self):
+    """Homes robot."""
+    await self.api.home()
+
+  async def home_all(self):
+    """Homes all robots."""
+    await self.api.home_all()
+
+  async def power_on_robot(self):
+    """Power on the robot."""
+    await self.api.set_power(True, self.api.timeout)
+
+  async def power_off_robot(self):
+    """Power off the robot."""
+    await self.api.set_power(False)
+
+  async def set_pc_mode(self):
+    """Set the controller to PC mode."""
+    await self.api.set_mode(0)
+
+  async def set_verbose_mode(self):
+    """Set the controller to verbose mode."""
+    await self.api.set_mode(1)
+
+  async def select_robot(self, robot_id: int) -> None:
+    """Select the specified robot."""
+    await self.api.select_robot(robot_id)
+
+  async def version(self) -> str:
+    """Get the robot's version."""
+    return await self.api.get_version()
+
+  async def open_gripper(self):
+    """Open the gripper."""
+    await self.api.open_gripper()
+
+  async def close_gripper(self):
+    """Close the gripper."""
+    await self.api.close_gripper()
+
+  async def exit(self):
+    """Exit the PreciseFlex backend."""
+    await self.api.exit()
+
+
+if __name__ == "__main__":
+
+  async def main():
+    arm = PreciseFlexBackend("192.168.0.1")
+    await arm.setup()
+    position = await arm.get_position()
+    print(position)
+    await arm.open_gripper()
+    vals = await arm.get_motion_profile_values(1)
+    print(vals)
+
+  asyncio.run(main())