Leash

Leash is a control API for the LumenPnP written in Python. It is meant to be used as an easy way to automate actions with the LumenPnP.

It contains:

• Machine axis control
• Pump and valve control
• Ring light control
• Vacuum sensor reading
• Full Photon bus control
• Image capture from both cameras

This library is subject to change with non-backwards compatible refactoring. It is still actively in development.

Usage

To install (ideally in a virtual environment), use:

pip install git+https://github.com/opulo-inc/leash.git

It can help to include the --force-reinstall flag in this command to make sure you're getting the latest version.

From here, it's easy to connect to a Lumen:

from leash import Lumen

lumen = Lumen()

if lumen.connect():
    try:
        lumen.home()

        # .goto() sends a move command with any optional arguments x, y, z, a, and b
        lumen.goto(x=10 y=10)
        lumen.goto(z=20)

        lumen.safeZ()

        # To make sure Lumen actions align with your code timing, use lumen.sleep()
        # This just makes sure all commands are complete before delaying
        # lumen.sleep() can be handy in situations where you want to keep a pump
        # on for a certain amount of time, for example:
        # 
        #   lumen.rightPump.on()
        #   lumen.sleep(1)
        #   lumen.rightPump.readPressure()
        #   lumen.rightPump.off() 
        #

        lumen.sleep(2)

        # If you need more control, you can use lumen.finishMoves() which blocks until
        # the Lumen's command queue is empty
        lumen.finishMoves()
        # You can then use any other python specific delays or timing functions afterwards
        time.sleep(1)

        # Pumps

        lumen.leftPump.on()
        lumen.sleep(1)
        print("Left sensor pressure: " + str(lumen.leftPump.getPressure()))
        lumen.leftPump.off()

        lumen.rightPump.on()
        lumen.sleep(1)
        print("Right sensor pressure: " + str(lumen.rightPump.getPressure()))
        lumen.rightPump.off()

        print("Left sensor temperature: " + str(lumen.leftPump.getTemperature())))
        print("Right sensor temperature: " + str(lumen.rightPump.getTemperature()))

        # Ring Lights

        lumen.topLight.on(218, 165, 32, 255)
        lumen.sleep(1)
        lumen.topLight.off()

        lumen.botLight.on(218, 165, 32, 255)
        lumen.sleep(1)
        lumen.botLight.off()

        # Feeders

        lumen.photon.scan()
        print(lumen.photon.activeFeeders)
    
    except KeyboardInterrupt:
        lumen.idle()

TODO

• uvc exposure support https://github.com/jtfrey/uvc-util/tree/master
• A few more simple vision commands (fid and rect position)