Metadata-Version: 2.1
Name: north_c9
Version: 0.2.2
Summary: A low-level communication library for the North C9 controller.
Home-page: https://gitlab.com/north-robotics/north_c9
Author: Sean Clark
Author-email: sclark@northrobotics.com
License: MIT
Description: 
        # North C9
        
        The North C9 library is a low level library wrapping the North C9 Controller protocol.
        
        
        ## Installation
        
        Install the `north_c9` library
        ```bash
        pip install git+https://gitlab.com/north-robotics/north_c9
        ```
        
        Import the `C9Controller` class at the top of a Python file, or inside a Python console
        ```python
        from north_c9.controller import C9Controller
        ```
           
        Create a new `C9Controller` instance to connect to the C9 controller
        ```python     
        controller = C9Controller()
        ```
        
        Now you can move axes, toggle outputs and move the N9 (if available)
        ```python
        # move axis 5 to 0 counts
        controller.move_axis(5, 0, velocity=1000, acceleration=5000)
        # rotate axis 5 once (motors have 1000 counts / revolution)
        controller.move_axis(5, 1000, velocity=1000, acceleration=5000, relative=True)
        # start spin axis 5
        controller.spin_axis(5, velocity=1000, acceleration=5000)
        # stop spinning axis 5
        controller.spin_axis_stop(5)
        
        # turn output 0 on and off
        controller.output(0, True)
        controller.output(0, False)
        controller.output_toggle(0)
        
        # home the N9
        controller.home()
        # move the N9 to x=0 mm, y=150 mm, z=150 mm and gripper=90 deg
        controller.move_arm(0, 150, 150, gripper=90)
        ```
Platform: UNKNOWN
Requires-Python: >=3.6.0
Description-Content-Type: text/markdown
