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55 lines
1.4 KiB
YAML
55 lines
1.4 KiB
YAML
linear_motion.grbl:
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class:
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module: unilabos.devices.cnc.grbl_sync:GrblCNC
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type: python
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action_value_mappings:
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move_through_points: &move_through_points
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type: NavigateThroughPoses
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goal:
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poses[].pose.position: positions[]
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feedback:
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current_pose.pose.position: position
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navigation_time.sec: time_spent
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estimated_time_remaining.sec: time_remaining
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number_of_poses_remaining: pose_number_remaining
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result: {}
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set_spindle_speed:
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type: SingleJointPosition
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goal:
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position: spindle_speed
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feedback:
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position: spindle_speed
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result: {}
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schema:
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type: object
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properties:
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position:
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type: array
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items:
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type: number
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description: The position of the device
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spindle_speed:
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type: number
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description: The spindle speed of the device
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required:
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- position
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- spindle_speed
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additionalProperties: false
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motor.iCL42:
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class:
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module: unilabos.devices.motor.iCL42:iCL42Driver
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type: python
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status_types:
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motor_position: Int64
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is_executing_run: Bool
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success: Bool
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action_value_mappings:
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execute_command_from_outer:
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type: SendCmd
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goal:
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command: command
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feedback: {}
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result:
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success: success |