Merge pull request #1 from Jialn/master

Add google docstring style comments for the python API

Author: MichaelDu9226

README.md

@@ -1,26 +1,39 @@
-Introduction
+## Introduction
 
 DexArm is developed based on the world's leading open source project **Marlin**, the DexArm firmware is completely open source, and its control commands (G-code) are compatible with Marlin.
 
 G-code commands are the general control commands for CNC machines, 3D printers, etc. It is composed of ASCII strings, such as `G1 F2000 X0 Y300 Z0`, G-code commands usually uses `\n` as the sending end character.
 
-In Marlin, the slave device will reply `ok` after receiving the G-code commands, the host computer then can send the next commands after receiving the `ok`. In DexArm SDK (pydexarm, etc.), we have encapsulated this sending and receiving mechanism and make it convenient for users to use.
+In Marlin, the device will reply `ok` after receiving the G-code commands, the host computer then can send the next commands after receiving the `ok`. In DexArm SDK (pydexarm, etc.), we have encapsulated this sending and receiving mechanism and make it convenient for users to use.
 
 
+## Install dependency
 
-Communication Parameters
+```
+pip install pyserial
+```
+
+## Initialization
+
+After the host computer is connected to the robot arm, please send the `GoHOME` command at first to move the arm to the HOME (`X0 Y300 Z0`) position. 
+
+## Run the example
+
+Change the port in pydexarm/example.py properly and run:
+
+```
+python pydexarm/example.py
+```
+
+## Communication Parameters
 
 - Baud rate: 115200
 - Data bits: 8
 - Stop bits: 1
 - Parity: None
 - Flow control: None
 
-**Initialization**
-
-After the host computer is connected to the robot arm, please send the `GoHOME` command at first to move the arm to the HOME (`X0 Y300 Z0`) position. 
-
-**Front-end modules**
+## Front-end modules
 
 Different front-end modules have different offset values. You need to set the actual front-end module through command `M888 Pn`. After that, the parameters will be saved in the firmware, and when you re-start the arm next time, it will load the saved front-end module parameters automatically.
 
@@ -29,23 +42,23 @@ Different front-end modules have different offset values. You need to set the ac
 - Pneumatic module: `M888 P2`
 - 3D printing module: `M888 P3`
 
-**Re-calibrate the initial position**
+## Re-calibrate the initial position
 
 The DexArm HOME position and motion coordinates are based on the initial position. The initial position has been calibrated before leaving the factory. If there is any error in the arm movement, please re-calibrate the initial position according to the following instruction:
 
 1. Adjust the arm to the following position, make sure Axis 1 and Axis 2 is in the maximum position:
 
 2. Send command `M889`
 
-**Motion commands**
+## Motion commands
 
 Please refer to this section for the details. 
 
-**Stop Commands**
+## Stop Commands
 
 Related command `G4`
 
-## **Pneumatic module control commands**
+## Pneumatic module control commands
 
 - M1000(0D0A) - air pump box to pump in
 - M1001(0D0A) - air pump box to pump out
@@ -55,17 +68,13 @@ Related command `G4`
 
 Attention: the commands for the soft gripper and the suction cup is opposite. When air pump box pump in, suction cup will pick the item while the soft gripper will release the item. When air pump box pump out, suction cup will release the item while the soft gripper will grab the item. 
 
-**Laser module control commands**
+## Laser module control commands
 
 - M3 - initiate laser, set duty cycle. Parameters:
-  - S - duty cycle, arrange 0-255
-
-Sample 
-
-
+- S - duty cycle, arrange 0-255
+- M5 - stop laser
 
+Sample: engrave under the maxium power
 ```
-;engrave under the maxium powerM3 S255
-```
-
-- M5 - stop laser
+M3 S255
+```

pydexarm/example.py

@@ -1,9 +1,9 @@
 from pydexarm import Dexarm
 
 '''windows'''
-dexarm = Dexarm("COM67")
+dexarm = Dexarm(port="COM67")
 '''mac & linux'''
-#device = Dexarm("/dev/tty.usbmodem3086337A34381")
+# device = Dexarm(port="/dev/tty.usbmodem3086337A34381")
 
 dexarm.go_home()
 
@@ -15,4 +15,5 @@
 dexarm.move_to(-50, 300, -50)
 dexarm.air_picker_place()
 
-dexarm.go_home()
+dexarm.go_home()
+dexarm.close()