Merge pull request #1 from phlegma/setup

Setup
phlegma · Jul 25, 2024 · a492b0a · a492b0a
2 parents 08fd7dd + 4e7da52
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diff --git a/.github/workflows/main.yml b/.github/workflows/main.yml
@@ -29,8 +29,8 @@ jobs:
     - name: Publish VL Nuget
       uses: vvvv/[email protected]
       with:
-        csproj: src\VL.NewLibrary.Template.csproj
-        nuspec: deployment\VL.NewLibrary.Template.nuspec
+        # csproj: src\VL.NewLibrary.Template.csproj
+        nuspec: deployment\VL.Devices.Robotiq.nuspec
 
         # Fill the Icon file
         icon-src: https://raw.githubusercontent.com/vvvv/PublicContent/master/nugeticon.png

diff --git a/Extension-screenshot.png b/Extension-screenshot.png
diff --git a/README.md b/README.md
@@ -1,23 +1,22 @@
-# VL.NewLibrary.Template
-What this library is used for
-
-For use with vvvv, the visual live-programming environment for .NET: http://visualprogramming.net
+# VL.Devices.Robotiq
+This libary provides a node set to control a [Robotiq 3-Finger Adaptive Robot Gripper](https://robotiq.com/products/3-finger-adaptive-robot-gripper). For use with vvvv, the visual live-programming environment for .NET: http://visualprogramming.net. 
 
 ## Getting started
 - Install as [described here](https://thegraybook.vvvv.org/reference/hde/managing-nugets.html) via commandline:
 
-    `nuget install VL.NewLibrary.Template -pre`
+    `nuget install VL.Devices.Robotiq`
 
 - Usage examples and more information are included in the pack and can be found via the [Help Browser](https://thegraybook.vvvv.org/reference/hde/findinghelp.html)
+- Press ALT-G to open the UI Extension to control the parameter of the gripper.
+![Gripper Extension](./Extension-screenshot.png)
 
 ## Contributing
-- Report issues on [the vvvv forum](https://discourse.vvvv.org/c/vvvv-gamma/28)
-- For custom development requests, please [get in touch](mailto:[email protected])
-- When making a pull-request, please make sure to read the general [guidelines on contributing to vvvv libraries](https://thegraybook.vvvv.org/reference/extending/contributing.html)
+- Open a pull request
+- Or for custom development requests or improvments, please [get in touch](mailto:[email protected])  
 
 ## Credits
-Links to libraries this is based on
+This libary is develop in and for vvvv gamma. 
 
 ## Sponsoring
 Development of this library was partially sponsored by:  
-* 
+* University of Applied Sciences Mainz 
diff --git a/VL.Devices.Robotiq.HDE.vl b/VL.Devices.Robotiq.HDE.vl
diff --git a/VL.Devices.Robotiq.vl b/VL.Devices.Robotiq.vl
diff --git a/VL.NewLibrary.Template.vl b/VL.NewLibrary.Template.vl
diff --git a/deployment/VL.NewLibrary.Template.nuspec → deployment/VL.Devices.Robotiq.nuspec b/deployment/VL.NewLibrary.Template.nuspec → deployment/VL.Devices.Robotiq.nuspec
@@ -6,17 +6,17 @@
 
 <package xmlns="http://schemas.microsoft.com/packaging/2011/10/nuspec.xsd">
   <metadata>
-    <id>VL.NewLibrary.Template</id>
+    <id>VL.Devices.Robotiq</id>
     <!-- For more about versions see: https://thegraybook.vvvv.org/reference/extending/publishing.html#version -->
-    <version>0.0.1-alpha</version>
-    <title>VL.NewLibrary.Template</title>
+    <version>1.0.0-alpha</version>
+    <title>VL.Devices.Robotiq</title>
     <!-- Provide authors and projectUrl --> 
-    <authors></authors>
-    <projectUrl></projectUrl>
+    <authors>phlegma</authors>
+    <projectUrl>https://github.com/phlegma/VL.Devices.Robotiq</projectUrl>
     <requireLicenseAcceptance>false</requireLicenseAcceptance>
     <!-- Provide description and tags-->
     <description></description>
-    <tags>VL</tags>
+    <tags>VL, robotik, robotiq, gripper, 3-Finger</tags>
     <license type="expression">LGPL-3.0-only</license>
     <icon>icon\nugeticon.png</icon>
     <readme>docs\README.md</readme>

diff --git a/help/3 Finger Gripper/HowTo Basics.vl b/help/3 Finger Gripper/HowTo Basics.vl
@@ -0,0 +1,187 @@
+<?xml version="1.0" encoding="utf-8"?>
+<Document xmlns:p="property" xmlns:r="reflection" Id="JlDKAGj0qcJPrxHarq5hhA" LanguageVersion="2024.6.6" Version="0.128">
+  <NugetDependency Id="Gir89eiso7eNZ6eCRApFhs" Location="VL.CoreLib" Version="2024.6.6" />
+  <Patch Id="MeVKc3L6s8OQTm3OkhpWwR">
+    <Canvas Id="HqgXcPjuwVPO0xWQew0nel" DefaultCategory="Main" BordersChecked="false" CanvasType="FullCategory" />
+    <!--
+
+    ************************ Application ************************
+
+-->
+    <Node Name="Application" Bounds="100,100" Id="SC7FsDapj2sP6BJ6zj4BzW">
+      <p:NodeReference>
+        <Choice Kind="ContainerDefinition" Name="Process" />
+        <CategoryReference Kind="Category" Name="Primitive" />
+      </p:NodeReference>
+      <Patch Id="EBEUuqoWWYXOxt05xAxHuH">
+        <Canvas Id="BDoROzhAXmOL2K4JLQOsAR" CanvasType="Group">
+          <Node Bounds="230,417,112,19" Id="QTKvE90EwnaMBrfQgxDmE2">
+            <p:NodeReference LastCategoryFullName="Devices.Robotiq" LastDependency="VL.Devices.Robotiq.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="AdaptivRobotGripper" />
+            </p:NodeReference>
+            <Pin Id="RR93xBwdQiOQB9anuN2qqH" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="HGJUSFyXJUFPUX1HVa9W6O" Name="Enable" Kind="InputPin" />
+            <Pin Id="HOpVWKoHXL8LECMv7uhy7g" Name="IP Adresse" Kind="InputPin" />
+            <Pin Id="RJ9nuMXUqNuLtYXWS1adXz" Name="Read Input Register Period" Kind="InputPin" />
+            <Pin Id="FhhBiGwMCeeMOM1TvrOwzS" Name="OutputRegister" Kind="InputPin" />
+            <Pin Id="E9ImDAtE3MMQFokQQBKIBb" Name="Is Connected" Kind="OutputPin" />
+            <Pin Id="RXmnDCYkD9cQOM6kEvhRJ2" Name="Input Register" Kind="OutputPin" />
+            <Pin Id="OREZUQBz0zoQR9Y7NIqjpL" Name="Input Register Binary" Kind="OutputPin" IsHidden="true" />
+          </Node>
+          <Node Bounds="547,320,105,19" Id="IOS2hC9Rii6O3Sw66yLtWn">
+            <p:NodeReference LastCategoryFullName="Devices.Robotiq" LastDependency="VL.Devices.Robotiq.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="SimpleOptions" />
+            </p:NodeReference>
+            <Pin Id="OdAHaSYMpwjMhKb6yNm1SY" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="N1egaWiwE9LMVxobur4gWU" Name="Activate" Kind="InputPin" />
+            <Pin Id="N7nzvD6VsX0MbiQjAbua8n" Name="Go To" Kind="InputPin" />
+            <Pin Id="FhzhLmVKNOxNf3GSGocz9G" Name="Mode" Kind="InputPin" />
+            <Pin Id="J6jC0c0XQIIOYOk8jlDPYs" Name="Position" Kind="InputPin" />
+            <Pin Id="EHeWvbi7LSfNSRpdCrdRdO" Name="Speed" Kind="InputPin" />
+            <Pin Id="CwaliWTQyGaMvFrPmFeFqC" Name="Force" Kind="InputPin" />
+            <Pin Id="BlynWWjxdQMMrDTrW71Ef0" Name="Output" Kind="OutputPin" />
+          </Node>
+          <Pad Id="VATspnlk8PjPHJiOpq59oo" Comment="Enable" Bounds="231,368,35,35" ShowValueBox="true" isIOBox="true" Value="False">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Toggle</p:buttonmode>
+            </p:ValueBoxSettings>
+          </Pad>
+          <Pad Id="UynbCxdsbKgQGPALgzGLGu" Comment="IP Adresse" Bounds="267,329,74,19" ShowValueBox="true" isIOBox="true" Value="192.168.1.11">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="GkkIWvNZKvcO0xB6oPl0cJ" Comment="Read Input Register Period" Bounds="304,291,35,15" ShowValueBox="true" isIOBox="true" Value="0.1">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Float32" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="EbFJFWr137YMZXByAHmKFI" Comment="Activate" Bounds="549,285,35,35" ShowValueBox="true" isIOBox="true" Value="False">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Toggle</p:buttonmode>
+            </p:ValueBoxSettings>
+          </Pad>
+          <Pad Id="SzVbKWQwnH7Mq2MVY8h69S" Comment="Mode" Bounds="590,202,35,15" ShowValueBox="true" isIOBox="true" Value="0">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Integer32" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="KtNPEWilhQuLcKgCpQ32kM" Comment="Position" Bounds="610,169,35,15" ShowValueBox="true" isIOBox="true" Value="26">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Integer32" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="UgQI3Vcmdp0NJKZM8tnAb7" Comment="Speed" Bounds="627,127,35,15" ShowValueBox="true" isIOBox="true" Value="255">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Integer32" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="C0DOW2TuK0GPUICjQPKfhH" Comment="Force" Bounds="650,88,35,15" ShowValueBox="true" isIOBox="true" Value="108">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="Integer32" />
+            </p:TypeAnnotation>
+          </Pad>
+          <Pad Id="IF056QjauqLPtq2OGykpZh" Comment="Is Connected" Bounds="231,464,35,35" ShowValueBox="true" isIOBox="true" />
+          <Node Bounds="337,554,85,19" Id="I5NxCbzr3g5N0nm54jGW1m">
+            <p:NodeReference LastCategoryFullName="Devices.Robotiq" LastDependency="VL.Devices.Robotiq.vl">
+              <Choice Kind="NodeFlag" Name="Node" Fixed="true" />
+              <Choice Kind="ProcessAppFlag" Name="GripperStatus" />
+            </p:NodeReference>
+            <Pin Id="NURYlVgLKT5QZtki2xQOrM" Name="Node Context" Kind="InputPin" IsHidden="true" />
+            <Pin Id="OHVh5sqqk2YNJWht5C4YzJ" Name="Input" Kind="InputPin" />
+            <Pin Id="Eemy7QzSUXFMhiIh9ZDDOq" Name="Initialization" Kind="OutputPin" />
+            <Pin Id="FlrTceF7me0PVWA4L5ormv" Name="Operation Mode" Kind="OutputPin" />
+            <Pin Id="D51siMdOjBdMLbub8XzxRe" Name="Action" Kind="OutputPin" />
+            <Pin Id="PSLLSsyDAf3NPiqHh0WHtx" Name="Status" Kind="OutputPin" />
+            <Pin Id="Mrrq3XkvVqhLj4cmjNeYUi" Name="Motion" Kind="OutputPin" />
+            <Pin Id="EmO2ASChAOHOQxaOwfQSl8" Name="Has Changed" Kind="OutputPin" IsHidden="true" />
+          </Node>
+          <Pad Id="MgVX4F8xR5ZOpFVjnzcNcO" Comment="Initialization" Bounds="339,609,35,15" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="AsTZFNwyYzFM0CNAPWO0XD" Comment="Operation Mode" Bounds="361,638,35,15" ShowValueBox="true" isIOBox="true" />
+          <Pad Id="KEKyOEnWSVqProgCBgEXZi" Bounds="60,42,465,239" ShowValueBox="true" isIOBox="true" Value="This node setup is designed to control a Robotiq Adaptive 3-Finger Gripper. The gripper supports various connection configurations. These patches are built using the Modbus TCP protocol to communicate with the gripper over a network.&#xD;&#xA;&#xD;&#xA;The nodes are divided into three parts:&#xD;&#xA;&#xD;&#xA;    1. Modbus TCP Client&#xD;&#xA;    2. Output Register (Gripper Options)&#xD;&#xA;    3. Input Register (Feedback Information from the Gripper)&#xD;&#xA;&#xD;&#xA;Additionally, there is an extension with a small UI to control the gripper for testing purposes.">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
+            </p:ValueBoxSettings>
+          </Pad>
+          <Pad Id="S9tYdfE9RJdLACVAphrO1O" Bounds="65,423,149,196" ShowValueBox="true" isIOBox="true" Value="1. Creates a Modbus TCP client to communicate with the gripper. This also sends the output register to the gripper and receives the input register from the gripper.">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
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+          </Pad>
+          <Pad Id="R5mZfY7hHqdNQG55rux3G5" Bounds="670,330,165,131" ShowValueBox="true" isIOBox="true" Value="2. The output register defines the options for the gripper, such as the position of the fingers. For more options, see the other help patches.">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
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+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
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+          </Pad>
+          <Pad Id="QgoOrS6lSU3LnWJmbUTlFc" Bounds="481,561,224,142" ShowValueBox="true" isIOBox="true" Value="3. Reads the feedback from the gripper. There are more nodes for this. For all feedback information, see the help patch &quot;Gripper Feedback.&quot;">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
+            </p:ValueBoxSettings>
+          </Pad>
+          <Pad Id="CQzMP0oBu06OtokqM8H3xG" Comment="Go To" Bounds="571,238,35,35" ShowValueBox="true" isIOBox="true" Value="False">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="ImmutableTypeFlag" Name="Boolean" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:buttonmode p:Assembly="VL.UI.Forms" p:Type="VL.HDE.PatchEditor.Editors.ButtonModeEnum">Toggle</p:buttonmode>
+            </p:ValueBoxSettings>
+          </Pad>
+          <Pad Id="Jv7i5G0leVbNTyxagWYnnZ" Bounds="675,239,307,61" ShowValueBox="true" isIOBox="true" Value="Activate starts the initialization process of the gripper. To start a movement, the activate and Go To input pin has to be set to true.">
+            <p:TypeAnnotation LastCategoryFullName="Primitive" LastDependency="VL.CoreLib.vl">
+              <Choice Kind="TypeFlag" Name="String" />
+            </p:TypeAnnotation>
+            <p:ValueBoxSettings>
+              <p:fontsize p:Type="Int32">9</p:fontsize>
+              <p:stringtype p:Assembly="VL.Core" p:Type="VL.Core.StringType">Comment</p:stringtype>
+            </p:ValueBoxSettings>
+          </Pad>
+        </Canvas>
+        <Patch Id="VrPq7Bn3g3XMkeINeixNW7" Name="Create" />
+        <Patch Id="Gtwv0geUlk9LUBVhBC728l" Name="Update" />
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+  <DocumentDependency Id="MpphFpykrABNEL4EQggaL4" Location="../../VL.Devices.Robotiq.vl" />
+</Document>