move coordinate convertor into backend

Author: rickwierenga

pylabrobot/arms/arm.py

@@ -24,14 +24,6 @@ async def get_cartesian_position(self) -> CartesianCoords:
     """Get the current position of the arm in 3D space."""
     return await self.backend.get_cartesian_position()
 
-  async def set_speed(self, speed: float):
-    """Set the speed of the arm's movement."""
-    return await self.backend.set_speed(speed)
-
-  async def get_speed(self) -> float:
-    """Get the current speed of the arm's movement."""
-    return await self.backend.get_speed()
-
   async def open_gripper(self):
     """Open the arm's gripper."""
     return await self.backend.open_gripper()

pylabrobot/arms/precise_flex/pf_3400.py

@@ -1,8 +1,34 @@
+from typing import Optional
+
+from pylabrobot.arms.coords import CartesianCoords, ElbowOrientation, JointCoords
 from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
+from pylabrobot.resources import Coordinate, Rotation
 
 
 class PreciseFlex400Backend(PreciseFlexBackend):
   """Backend for the PreciseFlex 400 robotic arm."""
 
   def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
-    super().__init__("pf3400", host, port, timeout)
+    super().__init__(host=host, port=port, timeout=timeout)
+
+  def convert_to_joint_space(
+    self, position: tuple[float, float, float, float, float, float]
+  ) -> JointCoords:
+    """Convert a tuple of joint angles to a JointCoords object."""
+    if len(position) != 6:
+      raise ValueError("Position must be a tuple of 6 joint angles.")
+    return JointCoords(0, position[0], position[1], position[2], position[3], position[4])
+
+  def convert_to_joints_array(
+    self, position: JointCoords
+  ) -> tuple[float, float, float, float, float, float]:
+    """Convert a JointSpace object to a list of joint angles."""
+    joints = (
+      position.base,
+      position.shoulder,
+      position.elbow,
+      position.wrist,
+      position.gripper,
+      0,
+    )  # PF400 has 5 joints, last is fixed
+    return joints

pylabrobot/arms/precise_flex/pf_400.py

@@ -1,8 +1,34 @@
+from typing import Optional
+
+from pylabrobot.arms.coords import CartesianCoords, ElbowOrientation, JointCoords
 from pylabrobot.arms.precise_flex.precise_flex_backend import PreciseFlexBackend
+from pylabrobot.resources import Coordinate, Rotation
 
 
 class PreciseFlex400Backend(PreciseFlexBackend):
   """Backend for the PreciseFlex 400 robotic arm."""
 
   def __init__(self, host: str, port: int = 10100, timeout=20) -> None:
-    super().__init__("pf400", host, port, timeout)
+    super().__init__(host=host, port=port, timeout=timeout)
+
+  def convert_to_joint_space(
+    self, position: tuple[float, float, float, float, float, float]
+  ) -> JointCoords:
+    """Convert a tuple of joint angles to a JointCoords object."""
+    if len(position) != 6:
+      raise ValueError("Position must be a tuple of 6 joint angles.")
+    return JointCoords(0, position[0], position[1], position[2], position[3], 0)
+
+  def convert_to_joints_array(
+    self, position: JointCoords
+  ) -> tuple[float, float, float, float, float, float]:
+    """Convert a JointSpace object to a list of joint angles."""
+    joints = (
+      position.base,
+      position.shoulder,
+      position.elbow,
+      position.wrist,
+      0,
+      0,
+    )  # PF400 has 4 joints, last two are fixed
+    return joints