Robot Arm

​

Handle

use lager::LagerBox;

let lager = LagerBox::from_env()?;
let arm = lager.arm("arm1");

​

Methods

​

Types

​

ArmPosition

pub struct ArmPosition {
    pub x: f64,   // mm
    pub y: f64,   // mm
    pub z: f64,   // mm
}

​

Method Reference

​

position() -> Result<ArmPosition>

​

move_to(x: f64, y: f64, z: f64) -> Result<ArmPosition>

let at = arm.move_to(50.0, 250.0, -20.0)?;
println!("arrived at ({:.1}, {:.1}, {:.1})", at.x, at.y, at.z);

​

move_by(dx: f64, dy: f64, dz: f64) -> Result<ArmPosition>

​

move_to_with_timeout(...) and move_by_with_timeout(...)

​

go_home() -> Result<()>

​

enable_motor() -> Result<()> and disable_motor() -> Result<()>

​

read_and_save_position() -> Result<ArmPosition>

​

set_acceleration(acceleration: u32, travel_acceleration: u32, retract_acceleration: u32) -> Result<()>

​

Examples

​

Press a button and check the DUT saw it

use lager::LagerBox;

let lager = LagerBox::from_env()?;
let arm = lager.arm("arm1");
let led = lager.gpio("status_led");

arm.enable_motor()?;
arm.go_home()?;

// Approach above the button, press, retract.
arm.move_to(50.0, 250.0, 0.0)?;
arm.move_to(50.0, 250.0, -18.0)?;
std::thread::sleep(std::time::Duration::from_millis(200));
arm.move_to(50.0, 250.0, 0.0)?;

assert!(led.input()?.is_high(), "DUT did not register the press");
arm.go_home()?;

​

Supported Hardware

​

Notes

• Coordinates are millimetres, and the arm enforces its own workspace bounds. An out-of-range target is refused, not clamped.
• Moves block on the box until the arm arrives, so a move is not something to poll around. The box-side default move timeout is 15 seconds.
• Non-move actions get a flat 45-second client budget, because they still touch the serial port and may queue behind a move on the device lock.
• The arm is physical and has no collision detection. Clear its workspace before letting a test run unattended.