Merge branch 'release/v1.6.6'

Author: mlaunier

README.md

@@ -8,7 +8,21 @@
 
 This guide will cover the setup and use of Vention’s MachineMotion™ Python Software Development Kit (SDK). After reading this guide, you will be ready to deploy custom motion and control applications using Vention’s MachineMotion controller. Before you begin, we recommended reading the <a href="https://www.vention.io/technical_documents/machine_motion_docs/vention_machine_motion_user_guide" target="_blank">MachineMotion Quick Start Guide</a> to get familiar with the technology.
 
-## Typical System Overview
+## Overview
+
+The MachineMotion python SDK has been designed to allow user applications to execute:
+
+>- internally to MachineMotion; or
+>- on an external computer connected to MachineMotion via the USB or Ethernet port.
+
+The Python SDK includes the following core features:
+
+>- Simplied interface to all MachineMotion functionality
+>- Control of one or multiple MachineMotion from a single program
+>- Direct access to the internal motion controller via gCode
+
+
+---
 
 Many systems are built by centralizing application-level software on a host computer. The software interacts with various devices (such as robotic devices, sensors, proprietary products, and data acquisition equipment) and delivers the required application behavior (see Figure 1).
 

_MachineMotion.py

@@ -570,12 +570,13 @@ def configMachineMotionIp(self, mode, machineIp, machineNetmask, machineGateway)
     #
     # Function to configure the axis motion.
     # @param axis       --- Description: The axis number.                           --- Type: number [1, 2, 3]
-    # @param u_step     --- Description: uStep setting.                             --- Type: number either [1, 2, 4, 8, 16]
-    # @param mech_gain  --- Description: Mechanical gain of the axis in mm / turn.  --- Type: number
+    # @param _u_step    --- Description: uStep setting.                             --- Type: number either [1, 2, 4, 8, 16]
+    # @param _mech_gain --- Description: Mechanical gain of the axis in mm / turn.  --- Type: number
     # @status
     #
-    def configAxis(self, axis, u_step, mech_gain):
-
+    def configAxis(self, axis, _u_step, _mech_gain):
+        u_step    = float(_u_step)
+        mech_gain = float(_mech_gain)
 
         # validate that the uStep setting is valid
         if (self.valid_u_step.index(u_step) != -1):
@@ -681,7 +682,7 @@ def writeControlDevice(self, port, signal, value, callback):
             if port not in self.attachedDevices.keys() or self.attachedDevices[port] == "IO_EXPANDER_GENERIC":
                 portNumber = self.validPorts.index(port) + 1
                 signalNumber = self.validSignals.index(signal) - 4
-                self.myMqttClient.publish('digitalOutput/' + str(portNumber) + '/' + str(signalNumber), '1' if value else '0')
+                self.myMqttClient.publish('devices/io-expander/' + str(portNumber) + '/digitalOutput/' +  str(signalNumber), '1' if value else '0')
                 callback("true" if value else "false")
             # Legacy devices
             else :
@@ -699,13 +700,13 @@ def writeControlDevice(self, port, signal, value, callback):
 
     def __onConnect(self, client, userData, flags, rc):
         if rc == 0:
-            self.myMqttClient.subscribe('digitalInput/#')
+            self.myMqttClient.subscribe('devices/io-expander/+/digitalInput')
 
     def __onMessage(self, client, userData, msg):
-        port = int(msg.topic.replace('digitalInput/', '')) - 1
+        device = int(msg.topic.replace('devices/io-expander/', '').replace('/digitalInput', '')) - 1
         values = int(msg.payload, 16)
-        if(port >= 0 and port < len(self.validPorts)) :
-            self.portInputs[self.validPorts[port]] = values
+        if(device >= 0 and device < len(self.validPorts)) :
+            self.portInputs[self.validPorts[device]] = values
 
     def __onDisconnect(self, client, userData, rc):
        print("Disconnected with rtn code [%d]"% (rc) )

examples/example--MachineMotion.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--configAxis.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--configMachineMotionIp.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--configMachineMotionIp_2.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitAbsoluteMove.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitAcceleration.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitHome.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitHomeAll.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitRelativeMove.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitSpeed.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitStop.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--emitgCode.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--getData.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readControlDevice--sensor4.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readControlDevice--sensor5.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readControlDevice--sensor6.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readEncoder--sensor4.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readEncoder--sensor5.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--readEncoder--sensor6.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--saveData.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--waitForMotionCompletion.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def templateCallback(data):

examples/example--writeControlDevice--sensor4.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def motionControllerMessagesCallback(data):

examples/example--writeControlDevice--sensor5.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def motionControllerMessagesCallback(data):

examples/example--writeControlDevice--sensor6.py

@@ -1,4 +1,4 @@
-from _MachineMotion_v1_6_5 import *
+from _MachineMotion import *
 
 # Define a callback to process controller gCode responses (if desired)
 def motionControllerMessagesCallback(data):

release-notes.md

@@ -1,6 +1,17 @@
+# Version: 1.6.6
+
+Date:  July 4<sup>th</sup> 2019
+
+## Bug Fixes:
+- Fix distance of movement smaller then requested on linear axis.
+
+## Improvements:
+- All examples import statement are now version independant.
+
+<br><br>
 # Version: 1.6.5
 
-Date:  June 4 2019
+Date:  June 4<sup>th</sup> 2019
 
 ## Bug Fixes:
 - Fix Line Number mismatch with the help of the 'resend' message