PyFlexMotion provides Python wrapper layers around the National Instruments package Flex Motion.
API layers are provided at both low (direct API access) and high-level (Axis/Board/Object Oriented) abstractions which can be mixed.
All configuration is structured and can be specified with
versioned *.toml
motor configuration files.
Have a look at the example configurations in flex_motion/example_configurations
.
pip install flex_motion
should work, but I recommend git clone
followed by pip install -e .
until I work out how to compile for other platforms.
from pathlib import Path
from flex_motion import Board
# build dictionary of hardware motion control boards
boards = Board.from_config(Path('path/to/my/config'))
# configure the board, attached trajectories, and axes
boards['A'].start()
# application code..
Because of library requirements, you will need to install PyFlexMotion into a 32-bit Python environment. Because of NI platform constraints, only 32 and 64-bit installations of Windows will work.
PyFlexMotion uses CFFI as the interface layer to Flex Motion and ships with the NI library files and the compiled C interface for the x86-64 CPU architecture. If you need to run on a different architecture, clone the repository and rebuild the CFFI bindings manually.
If you are using Conda or Miniconda, you can ensure a 32-bit Python by
setting the CONDA_FORCE_32BIT
flag.
Here's how this looks on bash
and PowerShell.
$> set CONDA_FORCE_32BIT=1
$> conda create -n my_environment python=3.7
$> conda activate my_environment
In particular, you need to ensure that CONDA_FORCE_32BIT
is set also when
you activate the environment.
Navigate into the flex_motion
package and run compile_flex_motion.py
in the interpreter you created. That should do it!
- NEVER write fresh motion software on an assembled system, test and prototype your software with motors detached so that you can avoid unnecessary hardware damage.
- Double check electrical connections before working on motion software.
- Double check your configuration before running software.
- Try basic motions in NI Motion Assistant first, to work out any quirks. You can also get much of the needed configuration from inside MAX or NI Motion Assistant.