Merge remote-tracking branch 'origin/main' into old_branch

Author: dannystaple

.github/workflows/python-publish.yml

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+# This workflow will upload a Python Package using Twine when a release is created
+# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
+
+name: Upload Python Package
+
+on:
+  release:
+    types: [created]
+
+jobs:
+  deploy:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python
+      uses: actions/setup-python@v2
+      with:
+        python-version: '3.x'
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install setuptools wheel twine
+    - name: Build and publish
+      env:
+        TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
+        TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
+      run: |
+        python setup.py sdist bdist_wheel
+        twine upload dist/*

.github/workflows/python-test.yml

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+# This workflow will install Python dependencies, run tests and lint with a variety of Python versions
+# For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
+
+name: Python package
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  test:
+
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: [3.7, 3.8, 3.9]
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        python -m pip install flake8 pytest
+        python -m pip install -e .
+#        if [ -f requirements.txt ]; then pip install -r requirements.txt; fi
+    - name: Lint with flake8
+      run: |
+        # stop the build if there are Python syntax errors or undefined names
+        flake8 . --count --select=E9,F63,F7,F82 --show-source --statistics
+        # exit-zero treats all errors as warnings. The GitHub editor is 127 chars wide
+        flake8 . --count --exit-zero --max-complexity=10 --max-line-length=127 --statistics
+#     - name: Test with pytest
+#       run: |
+#         pytest

LICENSE.txt

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+from bluedot import BlueDot
+from signal import pause
+import usb_arm
+
+arm = usb_arm.Arm()
+
+
+def led_pressed(pos):
+    arm.tell(usb_arm.LedOn)
+
+
+def stop(*args):
+    arm.tell(usb_arm.Stop)
+
+
+bd = BlueDot(cols=3, rows=2)
+led = bd[1, 0]
+
+bd.when_released = stop
+led.when_pressed = led_pressed
+bd.when_client_disconnects = stop
+pause()

demos/bluedot/led_only.py

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+from bluedot import BlueDot
+from signal import pause
+import usb_arm
+
+arm = usb_arm.Arm()
+
+
+def led_pressed(pos):
+    arm.tell(usb_arm.LedOn)
+
+
+def stop(*args):
+    arm.tell(usb_arm.Stop)
+
+
+def grip_pressed(pos):
+    if pos.top:
+        arm.tell(usb_arm.GripsClose)
+    if pos.bottom:
+        arm.tell(usb_arm.GripsOpen)
+
+
+def wrist_pressed(pos):
+    if pos.top:
+        arm.tell(usb_arm.WristUp)
+    if pos.bottom:
+        arm.tell(usb_arm.WristDown)
+
+
+def elbow_pressed(pos):
+    if pos.top:
+        arm.tell(usb_arm.ElbowUp)
+    if pos.bottom:
+        arm.tell(usb_arm.ElbowDown)
+
+
+def shoulder_pressed(pos):
+    if pos.top:
+        arm.tell(usb_arm.ShoulderUp)
+    if pos.bottom:
+        arm.tell(usb_arm.ShoulderDown)
+
+
+def base_pressed(pos):
+    if pos.left:
+        arm.tell(usb_arm.BaseCtrClockWise)
+    if pos.right:
+        arm.tell(usb_arm.BaseClockWise)
+
+
+bd = BlueDot(cols=3, rows=2)
+led = bd[1, 0]
+
+bd.when_released = stop
+led.when_pressed = led_pressed
+bd.when_client_disconnects = stop
+pause()

demos/bluedot/simple_grid.py

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+"""key_ctrl - key based arm controller"""
+from functools import partial
+import usb_arm
+import pygame
+from pygame.locals import *
+import sys
+
+
+def handle_key(arm, delay, key_map, key):
+    def do_it():
+        if key in key_map:
+            print("Doing key ", key)
+            arm.move(key_map[key], delay)
+    arm.safe_tell(do_it)
+
+
+def make_keymap():
+    """Bp - an initialised arm bitpattern.
+    returns the keymap"""
+    return {
+        K_z: usb_arm.BaseClockWise,
+        K_x: usb_arm.BaseCtrClockWise,
+        K_r: usb_arm.CloseGrips,
+        K_f: usb_arm.OpenGrips,
+        K_a: usb_arm.ShoulderDown,
+        K_q: usb_arm.ShoulderUp,
+        K_s: usb_arm.ElbowDown,
+        K_w: usb_arm.ElbowUp,
+        K_d: usb_arm.WristDown,
+        K_e: usb_arm.WristUp}
+
+
+def key_loop():
+    km = make_keymap()
+    try:
+        arm = usb_arm.Arm()
+    except AttributeError:
+        print("Please make sure the arm is connected and turned on")
+        sys.exit(1)
+    handle = partial(handle_key, arm, 0.5, km)
+    exit_key = K_ESCAPE
+
+    while True:
+        for event in pygame.event.get():
+            if event.type == QUIT:
+                pygame.quit()
+                return
+            if event.type == KEYDOWN:
+                if event.key == exit_key:
+                    return
+                else:
+                    handle(event.key)
+
+
+def main():
+    pygame.init()
+    key_loop()
+
+
+main()

demos/key_ctrl.py

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+# Web Control USB Arm Demo
+
+This demonstration code shows how to use this library with the Maplin/OWI edge USB robot arm to control it over the web via a browser.
+
+Install flask (with pip3 install flask) and follow along with the video at <https://youtu.be/wqt1u-WdOxY>.

demos/web_arm/README.md

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+import usb_arm
+from flask import Flask, Response
+
+
+arm = usb_arm.Arm()
+app = Flask(__name__)
+
+
+@app.route('/')
+def flash():
+    def inner():
+        yield "starting</br>\n"
+        arm.move(usb_arm.LedOn)
+        yield "completed\n"
+    return Response(inner())
+
+
+app.run(host="0.0.0.0")

demos/web_arm/arm_hello.py

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+import usb_arm
+from flask import Flask, Response, request
+
+
+arm = usb_arm.Arm()
+app = Flask(__name__)
+
+movemap = {
+    "GripsClose": usb_arm.GripsClose,
+    "CloseGrips": usb_arm.CloseGrips,
+    "GripsOpen": usb_arm.GripsOpen,
+    "OpenGrips": usb_arm.OpenGrips,
+    "Stop": usb_arm.Stop,
+    "WristUp": usb_arm.WristUp,
+    "WristDown": usb_arm.WristDown,
+    "ElbowUp": usb_arm.ElbowUp,
+    "ElbowDown": usb_arm.ElbowDown,
+    "ShoulderUp": usb_arm.ShoulderUp,
+    "ShoulderDown": usb_arm.ShoulderDown,
+    "BaseClockWise": usb_arm.BaseClockWise,
+    "BaseCtrClockWise": usb_arm.BaseCtrClockWise,
+    "LedOn": usb_arm.LedOn
+}
+
+
+@app.route('/move', methods=['POST'])
+def move():
+    pattern = movemap[request.form['pattern']]
+
+    def inner():
+        yield "starting<br>\n"
+        arm.move(pattern)
+        yield "completed\n"
+    return Response(inner())
+
+
+app.run(host="0.0.0.0")

demos/web_arm/arm_server.py

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+import usb_arm
+from flask import Flask, Response, request, render_template
+
+
+arm = usb_arm.Arm()
+app = Flask(__name__)
+
+movemap = {
+    "GripsClose": usb_arm.GripsClose,
+    "CloseGrips": usb_arm.CloseGrips,
+    "GripsOpen": usb_arm.GripsOpen,
+    "OpenGrips": usb_arm.OpenGrips,
+    "Stop": usb_arm.Stop,
+    "WristUp": usb_arm.WristUp,
+    "WristDown": usb_arm.WristDown,
+    "ElbowUp": usb_arm.ElbowUp,
+    "ElbowDown": usb_arm.ElbowDown,
+    "ShoulderUp": usb_arm.ShoulderUp,
+    "ShoulderDown": usb_arm.ShoulderDown,
+    "BaseClockWise": usb_arm.BaseClockWise,
+    "BaseCtrClockWise": usb_arm.BaseCtrClockWise,
+    "LedOn": usb_arm.LedOn
+}
+
+
+@app.route('/')
+def index():
+    return render_template('index.html', patterns=movemap)
+
+
+@app.route('/move', methods=['POST'])
+def move():
+    pattern = movemap[request.form['pattern']]
+
+    def inner():
+        yield "starting<br>\n"
+        arm.move(pattern)
+        yield "completed\n"
+    return Response(inner())
+
+
+app.run(host="0.0.0.0")