Installation docs and examples

README.md

-# ur-py-ctl
+# ur_py_ctl
 
 [![PyPI version](https://badge.fury.io/py/ur-py-ctl.svg)](https://pypi.org/project/ur-py-ctl/)
 [![CI Pipeline status](https://gitlab.control.lth.se/robotlab/ur_py_ctl/badges/main/pipeline.svg)](https://gitlab.control.lth.se/robotlab/ur_py_ctl/-/pipelines)
@@ -6,6 +6,10 @@
 
 * [Documentation](https://ur-py-ctl.readthedocs.io/)
 
+## Install
+
+[Installation instructions](https://ur-py-ctl.readthedocs.io/latest/installation.html)
+
 ## Develop
 
 1. [Install poetry](https://python-poetry.org/docs/#installation)

docs/examples.md

 # Examples
+
+## Generate URScript
+```{literalinclude} examples/generate_urscript.py
+```
+
+## Send script without feedback
+
+```{literalinclude} examples/send_script_wo_feedback.py
+```
+
+## Send script with feedback
+
+```{note}
+TODO: Make better version of [old send_file.py](https://gitlab.control.lth.se/robotlab/ur_py_ctl/-/blob/2a4119dd539067d3803b86e41e974813342a5d5a/ur_py_ctl/send_script.py)
+```

docs/examples/generate_urscript.py

+import math
+
+from ur_py_ctl import Motion, move_to_conf, move_to_pose
+
+# rotate joint0 to 45 degrees and the rest to zero moving 10 degrees/s
+move_instruction1 = move_to_conf([math.pi / 2, 0, 0, 0, 0, 0], v=math.radians(10))
+
+# move to coordinate .250, .500, .300 in a straight line with blend radius 1 cm
+# and 250 mm/s
+move_instruction2 = move_to_pose(
+    0.25, 0.5, 0.3, 0, 0, 0, mode=Motion.LINEAR, r=0.01, v=0.25
+)
+
+print(move_instruction1)
+print(move_instruction2)

docs/examples/send_script_wo_feedback.py

+import logging
+import socket
+
+import ur_py_ctl.urscript_commands as ur_cmd
+
+TAB = "    "
+
+SERVER_ADRESS = "marius-vikarie.d.control.lth.se"
+SERVER_PORT = 30002
+
+
+def get_script():
+    script = "def program():\n"
+    script += TAB + ur_cmd.popup("Program starting.") + "\n"
+
+    script += TAB + ur_cmd.set_tcp(0, 0, 0, 0, 0, 0) + "\n"
+
+    for i in range(10):
+
+        script += (
+            TAB
+            + ur_cmd.move_to_pose(
+                -0.1 + i * 0.01, 0, 0.3, 0, 0, 0, v=50 / 1000, r=5 / 1000
+            )
+            + "\n"
+        )
+        script += TAB + ur_cmd.text_msg(f"Sending command number: {i}") + "\n"
+
+    script += ur_cmd.text_msg("End program")
+    script += "end\n\n"
+    script += "program()\n"
+
+    return script.encode()
+
+
+def send_script():
+
+    send_socket = socket.create_connection((SERVER_ADRESS, SERVER_PORT), timeout=2)
+    send_socket.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+
+    script = get_script()
+
+    # send file
+    send_socket.send(script)
+
+    send_socket.close()
+
+    logging.debug("File sent")
+
+
+if __name__ == "__main__":
+    send_script()

docs/index.md

@@ -5,6 +5,7 @@
 maxdepth: 1
 caption: Contents
 ---
+installation
 examples
 reference
 ```

docs/installation.md

+# Installation instructions
+
+This package is intended to be used as a library, and should be installed into
+a python environment and imported into the users own code.
+
+Python includes a tool for creating environments called {py:mod}`venv`.
+Anaconda is another alternative that is especially useful on Windows since it
+does not only deal with Python dependencies but C/C++ dependencies and more.
+Popular packages such as NumPy and OpenCV has non-Python deps that can be
+managed using [Anaconda](https://www.anaconda.com/) or some other good package manager.
+
+```{tip}
+Anaconda is cross platform and solves a lot of dependency headaches. Together
+with an IDE like VS Code (also cross platform and well suited for Python) is a
+good starting point.
+
+There is a very helpful guide to get started on VS Code's documentation website
+titled
+[Getting Started with Python in VS Code](https://code.visualstudio.com/docs/python/python-tutorial)
+```
+
+## Set up environment
+
+### Using Anaconda
+
+```bash
+conda config --add channels conda-forge
+conda create -n my_project python=3.10
+conda activate my_project
+```
+
+### Using `virtualenv`
+
+```bash
+virtualenv --python=python3.8 {{path/to/venv}}
+source {{path/to/venv}}/bin/activate
+```
+
+## Install package
+
+### Latest release
+
+```bash
+pip install ur_py_ctl
+```
+
+### Latest commit
+
+```bash
+pip install git+https://gitlab.control.lth.se/robotlab/ur_py_ctl
+```