Robot Arm

Move a Rotrics Dexarm to press a DUT’s buttons, place a fixture, or actuate anything a test needs a physical hand for. All coordinates are millimetres.

Handle

use lager::LagerBox;

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

Methods

Method	Description
`name()`	The net name this handle addresses
`position()`	Current end-effector position
`move_to()`	Absolute move
`move_to_with_timeout()`	Absolute move with an explicit box-side timeout
`move_by()`	Relative move
`move_by_with_timeout()`	Relative move with an explicit box-side timeout
`go_home()`	Move to the home position
`enable_motor()`	Energize the motors
`disable_motor()`	Release the motors
`read_and_save_position()`	Read the position and persist it on the arm
`set_acceleration()`	Set acceleration in mm/s2, and read it back
`set_acceleration_keep_retract()`	Set print and travel acceleration, and leave retract as it is
`get_acceleration()`	Read the arm’s acceleration settings

Types

`ArmPosition`

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

`ArmAcceleration`

pub struct ArmAcceleration {
    pub acceleration: f64,         // print, mm/s2 (M204 P)
    pub travel_acceleration: f64,  // travel, mm/s2 (M204 T)
    pub retract_acceleration: f64, // retract, mm/s2 (M204 R)
}

Method Reference

`position() -> Result<ArmPosition>`

The current end-effector position, in millimetres.

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

Absolute move.

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

Returns: the position after the move.

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

Relative move; returns the new position.

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

The same moves with an explicit box-side timeout in seconds, for a move that needs longer than the default 15. The client widens its own HTTP budget to match.

`go_home() -> Result<()>`

Move to the home position, X0 Y300 Z0.

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

Energize or release the steppers.

A released arm is back-driveable and will sag under its own weight. Do not leave the motors disabled with the arm over a workpiece or a populated board.

`read_and_save_position() -> Result<ArmPosition>`

Read the current position and persist it on the arm.

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

Set the print, travel and retract acceleration in mm/s2 (G-code M204). Returns: what the arm reports after the change, so a value that the arm did not take shows up. A box at 0.59.0 or older sends no readback, and the call returns None.

`set_acceleration_keep_retract(acceleration: u32, travel_acceleration: u32) -> Result<Option<ArmAcceleration>>`

Set the print and travel acceleration, and leave the retract value as it is. It requires box software 0.60.0 or later.

`get_acceleration() -> Result<ArmAcceleration>`

Read the arm’s print, travel and retract acceleration from its settings report. It requires box software 0.60.0 or later.

let a = arm.get_acceleration()?;
println!("{} / {} / {}", a.acceleration, a.travel_acceleration, a.retract_acceleration);

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

Arm	Notes
Rotrics Dexarm	Workspace bounds enforced on the device

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 do not poll around a move. 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 can 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.

Getting Started

Development

Power & Simulation

Measurement

I/O & Communication

Utilities

Security

Guides

Handle

Methods

Types

`ArmPosition`

`ArmAcceleration`

Method Reference

`position() -> Result<ArmPosition>`

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

`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<Option<ArmAcceleration>>`

`set_acceleration_keep_retract(acceleration: u32, travel_acceleration: u32) -> Result<Option<ArmAcceleration>>`

`get_acceleration() -> Result<ArmAcceleration>`

Examples

Press a button and check the DUT saw it

Supported Hardware

Notes

​Handle

​Methods

​Types

​ArmPosition

​ArmAcceleration

​Method Reference

​position() -> Result<ArmPosition>

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

​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<Option<ArmAcceleration>>

​set_acceleration_keep_retract(acceleration: u32, travel_acceleration: u32) -> Result<Option<ArmAcceleration>>

​get_acceleration() -> Result<ArmAcceleration>

​Examples

​Press a button and check the DUT saw it

​Supported Hardware

​Notes

Handle

Methods

Types

`ArmPosition`

`ArmAcceleration`

Method Reference

`position() -> Result<ArmPosition>`

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

`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<Option<ArmAcceleration>>`

`set_acceleration_keep_retract(acceleration: u32, travel_acceleration: u32) -> Result<Option<ArmAcceleration>>`

`get_acceleration() -> Result<ArmAcceleration>`

Examples

Press a button and check the DUT saw it

Supported Hardware

Notes