a bit more docs and examples

Author: askuric

docs/examples/grpc.md

@@ -94,6 +94,7 @@ Once you have your python bindings you can run the examples from the `python_cli
 
 Or you can write your own python scripts to interact with the poulpe boards connected to the network. For example
 
+
 ```python
 from python_client import PyPoulpeRemoteClient
 import time
@@ -107,19 +108,28 @@ client = PyPoulpeRemoteClient("http://127.0.0.1:50098", [slave_id], 0.001)
 
 time.sleep(1.0)
 
-print("Connected slaves to master: {}".format(client.get_connected_devices()))
-
+devices = client.get_all_slaves_in_network()
+print("Devices connected in the network: ")
+for i,name in zip(devices[0],devices[1]):
+    print("Slave {}: {}".format(i,name))
+    
 print("Slave {} compliancy is: {}".format(slave_id, client.get_torque_state(slave_id)))
 print("Slave {} current position: {}".format(slave_id, client.get_position_actual_value(slave_id)))
 ```
 which might output something like:
 ```shell
 Connecting on slave: 0
-Connected slaves to master: ([0], ['NeckOrbita3d'])
+Devices connected in the network: 
+Slave 1: RightWristOrbita3d
+Slave 0: RightShoulderOrbita2d
 Slave 0 compliancy is: True
 Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065196501265746e-06]
 ```
 
+NOTE: 
+- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `python_client` crate in the [python_client docs](../../api/python_client).
+- You can find mure examples of useing the python client in the `python_client/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/python_client/notebooks)
+
 ### Orbita2d and Orbita3d control clients
 
 - Once you have your GRPC server running you can connect to it using the

docs/installation/python_client.md

@@ -59,15 +59,25 @@ client = PyPoulpeRemoteClient("http://127.0.0.1:50098", [slave_id], 0.001)
 
 time.sleep(1.0)
 
-print("Connected slaves to master: {}".format(client.get_connected_devices()))
-
+devices = client.get_all_slaves_in_network()
+print("Devices connected in the network: ")
+for i,name in zip(devices[0],devices[1]):
+    print("Slave {}: {}".format(i,name))
+    
 print("Slave {} compliancy is: {}".format(slave_id, client.get_torque_state(slave_id)))
 print("Slave {} current position: {}".format(slave_id, client.get_position_actual_value(slave_id)))
 ```
 which might output something like:
 ```shell
 Connecting on slave: 0
-Connected slaves to master: ([0], ['NeckOrbita3d'])
+Devices connected in the network: 
+Slave 1: RightWristOrbita3d
+Slave 0: RightShoulderOrbita2d
 Slave 0 compliancy is: True
 Slave 0 current position: [-0.0011222249595448375, 3.743586057680659e-05, 6.8065196501265746e-06]
 ```
+
+
+NOTE: 
+- <i class="fa fa-book fa-lg"></i> You can find the complete list of functions in the `python_client` crate in the [python_client docs](../../api/python_client).
+- You can find mure examples of useing the python client in the `python_client/notebooks` directory. [See the notebooks](https://github.com/pollen-robotics/poulpe_ethercat_controller/tree/develop/python_client/notebooks)

docs/software/poulpe_ethercat_grpc.md

@@ -46,6 +46,7 @@ See the and configure the features in the [Cargo.toml](https://github.com/pollen
 The server communicates with the ethercat master reading and writing the data to the poulpe boards.
 
 The client sends the `PoulpeCommand` message to the server and receives the `PoulpeState` message from the server. `PoulpeCommand` message contains 
+
 - `id` : id of the poulpe board
 - `emergency_stop` : emergency stop flag (true for emergency stop)
 - `compliancy` : activate the board (true for active)
@@ -58,6 +59,7 @@ The client sends the `PoulpeCommand` message to the server and receives the `Pou
 - `published_timestamp` : timestamp of the message (timestamp when the message was sent)
 
 `PoulpeState` message contains:
+
 - `id` : id of the poulpe board
 - `mode_of_operation` : mode of operation
 - `actual_position` : actual position
@@ -77,4 +79,4 @@ The client sends the `PoulpeCommand` message to the server and receives the `Pou
 
 
 NOTE:
-<i class="fa fa-book fa-lg"></i> The full software API can be found [here](../../api/pouple_ethercat_grpc)
+<i class="fa fa-book fa-lg"></i> The full software API can be found [here](../../api/poulpe_ethercat_grpc)

poulpe_ethercat_controller/src/state_machine.rs

@@ -45,6 +45,11 @@ impl ControlWord {
     }
 }
 
+// The mode of operation for the motor
+// - 1: ProfilePositionMode - the motor will move to a specific position
+// - 2: VelocityMode - the motor will move at a specific velocity
+// - 4: ProfileTorqueMode - the motor will move with a specific torque
+#[derive(FromPrimitive, PartialEq, Clone, Copy, Debug)]
 pub enum CiA402ModeOfOperation {
     ProfilePositionMode = 1,
     VelocityMode = 2,
@@ -58,6 +63,12 @@ pub enum CiA402ModeOfOperation {
     Reserved = 15,
 }
 
+impl CiA402ModeOfOperation {
+    pub fn from_u8(value: u8) -> Option<CiA402ModeOfOperation> {
+        num::FromPrimitive::from_u8(value)
+    }
+}
+
 // Error codes for the motors, we will have one error code per motor
 // - None - no error
 // - ConfigFail - error during the configuration of the motor