What is pump in uarm?

README.md

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+
+# uArmProPython
+uArm Swift Pro robot arm Python library and example code snippets. Based on a fork from Richar Gasthaagen's repository.
+
+Note 1: The svgo and convert binaries are external to Python. Meaning, you need to install imagemagick and node.js on your system (e.g., sudo apt-get install imagemagick npm) and the svgo command for node.js (npg install -g svgo). These functionalities were tested on Kubuntu Linux 16.04. Installation instructions for Windows can be found in the file uArmLaser_windows_guide.txt.
+
+Please, be careful with the laser. Don't blind yourself or burn your house down :)
+
+If you create something cool with these functions, please show me too :) Primarily I'm just curious, and also seeing other people's work might give ideas on how to improve the code. So, don't hesitate to drop me an email: ossi.lehtinen@gmail.com
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+The original readme:
+
 # uArmProPython
 Python Library for the uArm swift Pro robot arm
 

bitmap_draw_example.py

@@ -0,0 +1,31 @@
+import uArmLaserRobot
+
+mode = 1
+
+#Configure Serial port
+#serialport = "com3"          # for windows 
+serialport = "/dev/ttyACM0"  # for linux like system
+
+# Connect to uArm 
+myRobot = uArmLaserRobot.laserRobot(serialport)
+myRobot.debug = True   # Enable / Disable debug output on screen, by default disabled
+myRobot.connect()
+myRobot.mode(mode)   # Set mode to Normal
+
+
+
+x_offset = 170
+height = 150
+draw_speed = 6000
+targetWidth = 25
+lineSpacing = .5
+
+
+myRobot.drawBitmap('skull.jpg', targetWidth, lineSpacing, x_offset, height, draw_speed)
+
+
+
+# Dock the arm before exit
+myRobot.goto(225, 0, 150, 6000)
+myRobot.goto(130, 0, 90, 6000)
+myRobot.goto(97, 0, 30, 6000)

grid.py

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+# Script for drawing a grid with the laser for calibration purposes
+
+# Please, don't leave the arm unattended while operating the laser.
+
+import uArmLaserRobot
+
+mode = 1
+
+#Configure Serial port
+#serialport = "com3"          # for windows 
+serialport = "/dev/ttyACM0"  # for linux like system
+
+# Connect to uArm 
+myRobot = uArmLaserRobot.laserRobot(serialport)
+myRobot.debug = True   # Enable / Disable debug output on screen, by default disabled
+myRobot.connect()
+myRobot.mode(mode)   # Set mode to Normal
+
+
+
+# Larger grid
+#gridSizeX = 120
+#gridSizeY = 200
+#gridOffsetX = 140
+
+# Smaller test grid
+gridSizeX = 40
+gridSizeY = 40
+gridOffsetX = 180
+
+
+workingHeight = 150
+drawSpeed = 1000
+
+# Horizontal lines 
+for i in range(int(gridOffsetX/10), int((gridOffsetX+gridSizeX)/10+1)):
+	print(i*10)
+	myRobot.goto(i*10, -gridSizeY/2, workingHeight, 6000)
+	myRobot.goto_laser(i*10, gridSizeY/2, workingHeight, drawSpeed)
+	myRobot.goto(i*10, gridSizeY/2, workingHeight, 6000) # Switch the laser off
+
+# Vertical lines
+for i in range(int(-gridSizeY/20), int(gridSizeY/20+1)):
+	print(i*10)
+	myRobot.goto(gridOffsetX+gridSizeX, i*10, workingHeight, 6000)
+	myRobot.goto_laser(gridOffsetX, i*10, workingHeight, drawSpeed)
+	myRobot.goto(gridOffsetX, i*10, workingHeight, 6000) # Switch the laser off
+

laser_draw_example.py

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+import uArmLaserRobot
+
+mode = 1
+
+steps_per_seg = 10
+x_offset = 170
+height = 150
+draw_speed = 100
+targetWidth = 20
+lineSpacing = 1.0
+
+#Configure Serial port
+#serialport = "com3"          # for windows 
+serialport = "/dev/ttyACM0"  # for linux like system
+
+# Connect to uArm 
+myRobot = uArmLaserRobot.laserRobot(serialport)
+myRobot.debug = True   # Enable / Disable debug output on screen, by default disabled
+myRobot.connect()
+myRobot.mode(mode)   # Set mode to Normal
+
+coords = myRobot.parseSVG('bird.svg', targetWidth, x_offset, steps_per_seg)
+
+myRobot.set_path_start(coords, height, mode)
+
+myRobot.drawPath(coords, draw_speed, height, mode)
+#myRobot.fillSVG('bird.svg', targetWidth, lineSpacing, x_offset, height, draw_speed, mode) # The bird svg doesn't have fill atm, so this is a bit silly...
+myRobot.loff()
+
+# Dock the arm before exit
+myRobot.goto(225, 0, 150, 6000)
+myRobot.goto(130, 0, 90, 6000)
+myRobot.goto(97, 0, 30, 6000)

protocol_swiftpro.py

@@ -7,6 +7,7 @@
 READY                   = "@1"
 OK                      = "OK"
 SET_POSITION            = "G0 X{} Y{} Z{} F{}"
+SET_POSITION_LASER      = "G1 X{} Y{} Z{} F{}"
 SET_POSITION_RELATIVE   = "G2204 X{} Y{} Z{} F{}"
 SIMULATION              = "M2222 X{} Y{} Z{} P0"
 GET_FIRMWARE_VERSION    = "P2203"