v4.2

Python API Version 4.2

Date: September 8^th 2021

Python API supports Python 3.7.3 and older. Python-API v4.2 has been updated to support the following:

• For Linux and Mac machines, it is now possible to install the Python api system-wide. To update or install a Python API version, navigate to the folder with the new Python API and run:

  make install

• Simplified declaration of a new MachineMotion object. Creation of a MachineMotionv2 can be done as follows:

  mm = MachineMotionV2()

  mm = MachineMotionV2OneDrive()

• Push Button and Power Switch modules are now supported.

• Axes containing multiple drives can be configured and controlled as one.

• Combined moves with the 4th drive are now allowed.

• Enclosed ball screw is now supported.

• Some function names have been changed to reflect MachineLogic naming. The old names are deprecated, but will still work. These functions are:

  • emitSpeed -> setSpeed
  • emitAcceleration -> setAcceleration
  • emitRelativeMove -> moveRelative
  • emitAbsoluteMove -> moveToPosition
  • emitCombinedAxesRelativeMove -> moveRelativeCombined
  • emitCombinedAxesAbsoluteMove -> moveToPositionCombined
  • emitContinuousMove -> moveContinuous
  • emitHome -> moveToHome
  • emitHomeAll -> moveToHomeAll

• There is no directions field in moveRelative, moveRelativeCombined. Simply put a positive or negative distance to set the direction of movement.

• moveToHome is not a blocking function. To block a script while homing, simply add a waitForMotionCompletion when desired.

Known Issues

• If using the python API to control motors, you must first configure your actuators with the python API. Failure to do so can result in unexpected behaviour.