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CODE_OF_CONDUCT.md

@@ -125,4 +125,4 @@ enforcement ladder](https://github.com/mozilla/diversity).
 
 For answers to common questions about this code of conduct, see the FAQ at
 https://www.contributor-covenant.org/faq. Translations are available at
-https://www.contributor-covenant.org/translations.
+https://www.contributor-covenant.org/translations.

README.md

@@ -28,6 +28,8 @@ Sciclops has 4 controllable axes and a gripper.
 
 ### Python
 
+You'll need `libusb` installed (on debian-based linux: `sudo apt install libusb-1.0-0-dev`)
+
 ```bash
 # Create a virtual environment named .venv
 python -m venv .venv

platecrane_driver/__init__.py

@@ -1 +1,2 @@
+"""Driver for Hudson Robotics PlateCranes."""
 __version__ = "0.1.0"

platecrane_driver/error_codes.py

@@ -1,3 +1,4 @@
+"""Defines exceptions for error codes returned by the plate crane controller."""
 from __future__ import annotations
 
 
@@ -9,6 +10,7 @@ class SerialError(Exception):
 
     @staticmethod
     def from_response(response: str) -> SerialError:
+        """Create a SerialError from a response string."""
         error_map = {
             "E0": RelayError,
             "E1": CommandError,
@@ -23,39 +25,57 @@ def from_response(response: str) -> SerialError:
 
 
 class RelayError(SerialError):
+    """Undefined timer, counter, data memory. Check if requested unit is valid. Corresponds to the response E0."""
+
     def __init__(self):
+        """Create a new RelayError."""
         super().__init__(
             "Undefined timer, counter, data memory. Check if requested unit is valid."
         )
 
 
 class CommandError(SerialError):
+    """Invalid Command. Corresponds to the response E1."""
+
     def __init__(self):
+        """Create a new CommandError."""
         super().__init__(
             "Invalid command. Check if communication is opened by CR, check command sent to controller, "
             "check for interruptions during string transmission."
         )
 
 
 class ProgramError(SerialError):
+    """Firmware issues. Corresponds to the response E2."""
+
     def __init__(self):
+        """Create a new ProgramError."""
         super().__init__("Firmware lost, reprogram controller")
 
 
 class HardwareError(SerialError):
+    """Hardware faults. Corresponds to the response E3."""
+
     def __init__(self):
+        """Create a new HardwareError."""
         super().__init__(
             "Controller hardware error, turn controller ON/OFF, controller is faulty and has to be replaced."
         )
 
 
 class WriteProtectedError(SerialError):
+    """Write protected error. Corresponds to the response E4."""
+
     def __init__(self):
+        """Create a new WriteProtectedError."""
         super().__init__("Unauthorized access")
 
 
 class BaseUnitError(SerialError):
+    """Base unit error. Corresponds to the response E5."""
+
     def __init__(self):
+        """Create a new BaseUnitError."""
         super().__init__("Unauthorized access")
 
 
@@ -64,6 +84,7 @@ class ErrorResponse(Exception):
 
     @staticmethod
     def from_error_code(error_code: int) -> ErrorResponse:
+        """Create an ErrorResponse from an integer error code."""
         error_code = int(
             hex(error_code)[-2:], base=16
         )  # convert to hex, take two last digits, parse as hex
@@ -79,7 +100,7 @@ def from_error_code(error_code: int) -> ErrorResponse:
             0x0B: "Lift overflow; travel path exceeds maximum allowed path",
             0x0C: "Wrong Level; DM5 > DM25; Level does exceed the maximum available levels",
             0x0D: "Plate trace Error; Plate was not loaded/unloaded as expected from/to shovel",
-            0x0E: "Init time out; System was not able to initilize",
+            0x0E: "Init time out; System was not able to initialize",
             0x10: "Turn in Turn Init Sensor or not in safe position; Possible step loss",
             0x12: "Carousel Init time out",
             0x13: "Shovel OUT time out; shovel could not be extended",

platecrane_driver/plate_resources.json

@@ -8,7 +8,7 @@
     },
 
     "96_deep_well":{
-        "plate_above_height":5000, 
+        "plate_above_height":5000,
         "plate_pick_steps_module": 2950,
         "plate_pick_steps_stack": 7750,
         "plate_lid_steps": 0,
@@ -25,20 +25,20 @@
     },
 
     "tip_box_lid_on":{
-        "plate_above_height":5000, 
+        "plate_above_height":5000,
         "plate_pick_steps_module": 2300,
         "plate_pick_steps_stack": 7100,
         "plate_lid_steps": 6200,
         "lid_height": 400
 
     },
     "tip_box_lid_off":{
-        "plate_above_height":5000, 
+        "plate_above_height":5000,
         "plate_pick_steps_module": 3100,
         "plate_pick_steps_stack": 7900,
         "plate_lid_steps": 0,
         "lid_height": 0
 
     }
-    
-}
+
+}

platecrane_driver/platecrane_driver.py

@@ -1,3 +1,4 @@
+"""Handle Proper Interfacing with the PlateCrane"""
 import json
 import re
 
@@ -90,11 +91,6 @@ def home(self, timeout=28):
         command = "HOME\r\n"
         self.__serial_port.send_command(command, timeout)
 
-    def get_error_output(self, output: str):
-        # Find the errors from error codes.
-        self.robot_error = "err"
-        pass
-
     def get_robot_movement_state(self):
         """Summary
 
@@ -150,10 +146,12 @@ def get_status(self):
         self.robot_status = self.__serial_port.send_command(command)
 
     def free_joints(self):
+        """Unlocks the joints of the plate_crane"""
         command = "limp TRUE\r\n"
         self.__serial_port.send_command(command)
 
     def lock_joints(self):
+        """Locks the joints of the plate_crane"""
         command = "limp FALSE\r\n"
         self.__serial_port.send_command(command)
 

platecrane_driver/platecrane_joint_limits.py

@@ -1,3 +1,4 @@
+"""Joint limits for the platecrane."""
 platecrane_joint_limits = {
     "R": [-1200, 10200],
     "Z": [-13600, 300],

platecrane_driver/sciclops_driver.py

@@ -1,3 +1,4 @@
+"""Driver for the Hudson Robotics Sciclops robot."""
 import asyncio
 import re
 
@@ -12,6 +13,7 @@ class SCICLOPS:
     """
 
     def __init__(self, VENDOR_ID=0x7513, PRODUCT_ID=0x0002):
+        """Creates a new SCICLOPS driver object. The default VENDOR_ID and PRODUCT_ID are for the Sciclops robot."""
         self.VENDOR_ID = VENDOR_ID
         self.PRODUCT_ID = PRODUCT_ID
         self.host_path = self.connect_sciclops()
@@ -39,7 +41,7 @@ def __init__(self, VENDOR_ID=0x7513, PRODUCT_ID=0x0002):
 
     def connect_sciclops(self):
         """
-        Connect to serial port / If wrong port entered inform user
+        Connect to USB device. If wrong device, inform user
         """
         host_path = usb.core.find(idVendor=self.VENDOR_ID, idProduct=self.PRODUCT_ID)
 
@@ -51,6 +53,7 @@ def connect_sciclops(self):
             return host_path
 
     def disconnect_robot(self):
+        """Disconnects from the sciclops robot."""
         try:
             usb.util.dispose_resources(self.host_path)
         except Exception as err:
@@ -775,19 +778,10 @@ def limp(self, limp_bool):
         command = "LIMP %s" % limp_string  # Command interpreted by Sciclops
         self.send_command(command)
 
-    # TODO: see if way to update exchange labware info after p400 puts plate there (probably needs to be in seperate file)
-    """
-    functions to add
-    """
-
-    # TODO: function probably only needed if labware stored on separate file
-    def update_labware(plate_type, source, destination):
-        pass
-
-    # * checks all lid nests to see if there's a lid of same type present, returns occupied lid nest
     def check_for_lid(
         self,
     ):  # TODO: conditional for no available lid to prevent delays?
+        """Checks all lid nests to see if there's a lid of same type present, returns occupied lid nest"""
         if (
             self.labware["lidnest1"]["howmany"] >= 1
             and self.labware["lidnest1"]["type"] == self.labware["exchange"]["type"]
@@ -806,6 +800,7 @@ def check_for_lid(
     def check_for_empty_nest(
         self,
     ):  # TODO: maybe add conditional to throw away lids in nests if none available?
+        """Check all lid nests to see if there's an empty "available" lid nest, returns open lid nest"""
         if self.labware["lidnest1"]["howmany"] == 0:
             return "lidnest1"
         elif self.labware["lidnest2"]["howmany"] == 0:
@@ -815,6 +810,7 @@ def check_for_empty_nest(
         pass
 
     def check_stack(self, tower):
+        """Check a stack to see if there's room for another plate, returns True if there is room, False if not."""
         # save z height of stack Z = -36
         tower_z_height = -50
         tower_z_bottom = -421.8625
@@ -831,8 +827,8 @@ def check_stack(self, tower):
         else:  # stack full
             return False
 
-    # * Remove lid, (self, lidnest, plate_type), removes lid from plate in exchange, trash bool will throw lid into trash
     def remove_lid(self, trash):
+        """Remove lid, (self, lidnest, plate_type), removes lid from plate in exchange, trash bool will throw lid into trash"""
         #  move above plate exchange
         self.set_speed(100)
         self.open()
@@ -925,8 +921,8 @@ def remove_lid(self, trash):
                 self.labware[lid_nest]["type"] = self.labware["exchange"]["type"]
                 self.labware["exchange"]["has_lid"] = False
 
-    # * Plate on exchange, replace lid (self, plateinfo, lidnest)
     def replace_lid(self):
+        """Plate on exchange, replace lid (self, plateinfo, lidnest)"""
         # find a lid
         self.set_speed(100)
         self.open()
@@ -991,8 +987,8 @@ def replace_lid(self):
             self.labware[lid_nest]["howmany"] -= 1
             self.labware["exchange"]["has_lid"] = True
 
-    # * Plate from exchange to stack (self, tower, plateinfo)
     def plate_to_stack(self, tower, add_lid):
+        """Plate from exchange to stack (self, tower, plateinfo)"""
         # Move arm up and to neutral position to avoid hitting any objects
         self.open()
         self.set_speed(10)
@@ -1064,8 +1060,8 @@ def plate_to_stack(self, tower, add_lid):
         self.labware["exchange"]["howmany"] -= 1
         self.labware[tower]["howmany"] += 1
 
-    # * Remove lid from lidnest, throw away
     def lidnest_to_trash(self, lidnest):
+        """Remove lid from lidnest, throw away"""
         # Move arm up and to neutral position to avoid hitting any objects
         self.open()
         self.set_speed(10)
@@ -1136,8 +1132,8 @@ def lidnest_to_trash(self, lidnest):
         else:
             print("NO LID IN NEST")
 
-    # * Remove plate from exchange, throw away
     def plate_to_trash(self, add_lid):
+        """Remove plate from exchange, throw away"""
         # Move arm up and to neutral position to avoid hitting any objects
         self.open()
         self.set_speed(10)