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‎README.md

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# Thermoflex API
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#### System Requirements
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- Python 3.12 or greater
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- Pyserial 3.5 or greater
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### Introduction
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The Thermoflex muscle is a current activated artificial muscle that is designed to have a low profile usage and simple activation and deactivation sequence. The purpose of this library is 2-fold; to become the working backend of the Delta hardware application and to allow for open-source development of the Nitinol muscle.
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### Download and Installation
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To install our software, you can use the pip and package methods
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`pip install thermoflex`
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or you can install manually by downloading the files from our Github release page and installing the package with pip.
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[Github](https://github.com/Delta-Robotics-Inc/ThermoFlex-Python-API/releases)
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### Launch and Use
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Import the thermoflex library and use .discover() to find our product.
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```python
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import thermoflex as tf
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netlist = tf.discover()
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network1 = netlist[0]
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```
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This will return a list of [NodeNet](#nodenet-commands)-objects. Each [NodeNet](#nodenet-commands) contains a list of [Node](#node-commands)-objects connected at initialization as well as a broadcast [Node](#node-commands) and a self [Node](#node-commands) device. From here you will be able to assign nodes to variables using the .getDevice() command.
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``` Python
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node0 = network1.node_list[0]
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```
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You can also assign the broadcast node and self node by calling a [NodeNet](#nodenet-commands)'s .broadcast_node and .self_node.
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``` Python
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node_b = network1.broadcast_node
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node_s = network1.self_node
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```
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Once you have your connected node bound, you can call its status, reset and logging commands. To use the muscles, you need to create [Muscle](#muscle-commands) objects
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To create [Muscle](#muscle-commands)-class objects, start by calling tf.muscle(). This is where you need input your *idnum*, *resistance*, *length*, and *diameter* values if you have them.
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``` Python
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muscle1 = tf.muscle(idnum = 0, resist= 300, diam= 2, length= 150)
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muscle2 = tf.muscle(idnum = 1, resist= 290, diam= 2, length= 145)
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```
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Note that the *idnum* field is the only field that is neccesary for creating the [Muscle](#muscle-commands)-object.
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Next, assign the muscle objects to a node object by calling the .setMuscle() command. This command takes the identification number and the muscle object as arguments
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```Python
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node0.setMuscle(0, muscle1)
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node0.setMuscle(1, muscle2)
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```
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Sessions are automatically created and create a filesystem that exports to a higher level folder. Sessions track the incoming and outgoing serial data and saves it to a .ses file and a .txt file. The .txt files are generated as plain messages, where as the .ses files have serialized messages.
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```Python
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sessionl = tf.Session.sessionl
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session1 = session[0]
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```
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From here, you can add commands to your command buffer. [Node Commands](#node-commands)
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These commands should be in the format,
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```Python
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node0.enable(muscle1)
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```
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The muscle objects also have their own commands that are passed to their commanding node.[Muscle Commands](#muscle-commands)
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Developer install instructions
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for testing purposes, use the command
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```
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pip install -e $SRC
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```
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with $SRC being the path to the [python-serial](python-serial/) folder. This will install the files as a test library.
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## Program Commands
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| **Program Commands** | **Function** |
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| --------------------- | ----------------------------------------------------------------------- |
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| discover(*prodid*) | finds connected nodes from the product id (*prodid*) |
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| update() | updates all of the networks |
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| updatenet(*network*) | updates the *network* |
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| delay(*time*) | continuously calls update on all of the networks until *time* is called |
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| endsession(*session*) | Ends and deletes the *session* |
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| endAll() | Ends and deletes all sessions, nodes, and networks |
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[Program Glossary](/docs/Thermoflex%20Glossary.md#program)
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## NodeNet Commands
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| **NodeNet Commands** | **Function** |
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| -------------------- | --------------------------------------------------------------------------------------- |
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| refreshDevices() | updates the status for all devices on a NodeNet |
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| addNode(*nodeid*) | creates a new Node with the given *nodeid* |
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| removeNode(*nodeid*) | removes a Node object with *nodeid* from the given NodeNet's internal node list |
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| getDevice(*nodeid*) | gets the Node object with *nodeid* and attaches it to the NodeNet |
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| openPort() | Opens the port associated with the network, Started upon initialization |
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| closePort() | Closes the port associated with the network |
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| start_serial() | starts the serial loop for sending and receiving commands. started upon initialization. |
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[NodeNet Glossary](/docs/Thermoflex%20Glossary.md#nodenet)
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## Node Commands
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| **Node Commands** | **Function** |
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| ------------------------------------ | ----------------------------------------------------------------------------------------------------------------------------------------- |
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| status() | Checks the status of the node and returns its status |
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| getStatus() | Returns the latest node status received |
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| reset() | Resets at the node level, can be extrapolated to reset the entire network |
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| setLogmode(mode) | Sets the logging mode of the node; mode:(0:'none', 1:'compact', 2:'dump', 3:'readable dump') |
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| setMode(conmode, device) | Sets the input mode of the node; conmode : (percent, volts, amps, ohms, train); device : (all,node,m1,m2,...,m*n*) |
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| setSetpoint(musc, conmode, setpoint) | Sets the point at which the node actuates to; musc: *muscle id number*; conmode : (percent, volts, amps, ohms, train); setpoint : *float* |
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| setMuscle(idnum,muscle) | Assigns a muscle to the node; will have presets in the future |
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| enable(muscle) | Enables the selected muscle to act on the value set by setSetpoint(); enable : (*muscle object*) |
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| enableAll | Enables all connected muscles of the node |
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| disable(muscle) | Disables the selected muscle : (m1,m2,...,m*n*) |
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| disableAll | Disables all connected muscles of the node |
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| update | Sends and receives the packets to "update" the node state |
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[Node Glossary](/docs/Thermoflex%20Glossary.md#node)
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## Muscle Commands
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| **Muscle Command** | **Function** |
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| -------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------- |
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| changeMusclemos(*mosfetnum*:int) | Manually changes the mosfet number of the selected muscle. The mosfet number is set automatically when the muscle is assigned to a node; |
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| setMode(conmode) | Sets the data type that a given muscle receives for its setSetpoint() command; conmode : (percent, volts, amps, ohms, train) |
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| setSetpoint(setpoint:float) | Sets the setpoint of the muscle at the node. |
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| setEnable(bool) | Sets the enable status of the muscle in the node. |
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[Muscle](/docs/Thermoflex%20Glossary.md#muscle)

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