0003-api_get.py

#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>

"""
Description: Interface for obtaining information
"""

import os
import sys
import time

sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))

from xarm.wrapper import XArmAPI


#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
    ip = sys.argv[1]
else:
    try:
        from configparser import ConfigParser
        parser = ConfigParser()
        parser.read('../robot.conf')
        ip = parser.get('xArm', 'ip')
    except:
        ip = input('Please input the xArm ip address:')
        if not ip:
            print('input error, exit')
            sys.exit(1)
########################################################


arm = XArmAPI(ip)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)

print('=' * 50)
print('version:', arm.get_version())
print('state:', arm.get_state())
print('cmdnum:', arm.get_cmdnum())
print('err_warn_code:', arm.get_err_warn_code())
print('position(°):', arm.get_position(is_radian=False))
print('position(radian):', arm.get_position(is_radian=True))
print('angles(°):', arm.get_servo_angle(is_radian=False))
print('angles(radian):', arm.get_servo_angle(is_radian=True))
print('angles(°)(servo_id=1):', arm.get_servo_angle(servo_id=1, is_radian=False))
print('angles(radian)(servo_id=1):', arm.get_servo_angle(servo_id=1, is_radian=True))

arm.disconnect()