readme

Author: dizzyi

README.md

@@ -10,4 +10,131 @@ A package that provide a simple python socket based api for controlling inovo ro
 ## Installation
 ```bash
 pip install inovopy
+```
+### [Documentation](https://dizzyi.github.io/inovopy/) 
+
+
+## Usage
+
+see [examples](https://github.com/dizzyi/inovopy/tree/main/examples)
+
+
+### Ros
+inovopy provide ros based api to interact with inovo robot arm.
+
+#### Example
+```python
+from inovopy.rosbridge import InovoRos
+
+ros = InovoRos("192.168.1.122", "Test")
+```
+
+All fields are sync to the live robot state through RosBridge
+```python
+class InovoRos(inovopy.util.Loggable):
+    # Ros
+    ros: roslibpy.Ros
+
+    # Tcp Speed
+    tcp_speed_lin: float = 0
+    tcp_speed_ang: float = 0
+
+    # Tcp Pose
+    tcp_pose_vec: tuple[float, float, float] = (0, 0, 0)
+    tcp_pose_quat: tuple[float, float, float, float] = (0, 0, 0, 0)
+
+    # Joint State
+    joint_pos: list[float] = []
+    joint_vel: list[float] = []
+    joint_eff: list[float] = []
+
+    # Power Status
+    voltage: float = 0
+    current: float = 0
+    power_status: str = 0
+
+    # Robot Status
+    driver_state: str = ""
+    drive_powered: bool = False
+
+    # EStop Status
+    estop_active: bool = False
+    estop_circuit: bool = False
+
+    # Safe Stop Status
+    safe_stop_active: bool = False
+    safe_stop_circuit: bool = False
+
+    # Runtime State
+    active_blocks: list[str] = []
+    current_block_progress: float = 0
+    runtime_status: RuntimeState = 0
+    variables: list[Variable] = []
+
+    # Arm State
+    enable: bool = False
+    state: int = 0
+    joint_states: list[JointState] = []
+```
+
+APIs:
+```python
+ros.safe_stop_reset()
+ros.estop_reset()
+ros.power_on()
+ros.robot_enable()
+
+ros.runtime_start()
+ros.runtime_pause()
+ros.runtime_step()
+ros.runtime_continue()
+ros.runtime_get_var("a")
+ros.runtime_set_var("a", 32)
+ros.runtime_stop()
+ros.runtime_start("do something")
+
+ros.robot_disable()
+ros.power_off()
+```
+
+### iva
+To enact more precise and dynmaic control of robot, you can use [`iva`](https://github.com/dizzyi/inovo-iva), a message framework design to interact with inovo robot arms.
+
+1. Download latest release of [iva.isq](https://github.com/dizzyi/inovo-iva/releases)
+2. Import the project to inovo robot psu
+3. look for the socket connect block and change the target ip to robot control server's ip address
+4. use `inovopy.robot.InovoRobot` to control the robot
+
+[example](https://github.com/dizzyi/inovopy/blob/main/examples/500%20-%20inovo%20iva.py)
+
+```python
+from inovopy.robot import InovoRobot
+from inovopy.iva import RobotCommand, MotionMode
+from inovopy.geometry.transform import Transform
+
+
+bot = InovoRobot.default_iva("<PSU IP address>", "iva example")
+
+# Get Current
+print(bot.get_current_joint())
+print(bot.get_current_transform())
+
+# Motion
+bot.linear_relative(Transform.from_z(10.0))
+bot.joint(bot.get_current_joint().then_j1(10.0))
+
+# Set Motion Parameter
+bot.set_param(speed=10.0, accel=50.0, blend_linear=100.0, blend_angular=30.0)
+
+# Digital IO
+print(bot.get_io_beckhoff(0))
+print(bot.set_io_beckhoff(0, True))
+
+# Sequence
+seq = [
+    RobotCommand.motion(MotionMode.LINEAR_RELATIVE, Transform.from_z(10.0)),
+    RobotCommand.sleep(10),
+    RobotCommand.set_parameter(speed=20.0, accel=5.0),
+]
+bot.sequence(seq)
 ```

setup.py

@@ -7,7 +7,7 @@
 
 VERSION = "1.0.0"
 DESCRIPTION = "Inovo Robot Arm API"
-LONG_DESCRIPTION = Path(__file__).parent.read_text()
+LONG_DESCRIPTION = (Path(__file__).parent / "README.md").read_text()
 
 # Setting up
 setup(