diff --git a/CHANGELOG.md b/CHANGELOG.md
index a0f4a94..5b7b312 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,5 +1,11 @@
# Changelog
+## [4.0.1] - 2025-06-16
+
+### Fixed
+
+- Fix UART passthrough ([`1346356`](https://github.com/fossasia/pslab-python/commit/1346356d3cf95691ea0e3e87be335659d5513ec8)) (Anashuman Singh)
+
## [4.0.0] - 2025-02-19
### Changed
@@ -41,6 +47,7 @@
_Changelog added in following release._
+[4.0.1]: https://github.com/fossasia/pslab-python/releases/tag/4.0.1
[4.0.0]: https://github.com/fossasia/pslab-python/releases/tag/4.0.0
[3.1.1]: https://github.com/fossasia/pslab-python/releases/tag/3.1.1
[3.1.0]: https://github.com/fossasia/pslab-python/releases/tag/3.1.0
diff --git a/pslab/__init__.py b/pslab/__init__.py
index 174ca77..fde015c 100644
--- a/pslab/__init__.py
+++ b/pslab/__init__.py
@@ -17,4 +17,4 @@
"ScienceLab",
)
-__version__ = "4.0.0"
+__version__ = "4.0.1"
diff --git a/pslab/external/motor.py b/pslab/external/motor.py
index 71cff0c..1fba065 100644
--- a/pslab/external/motor.py
+++ b/pslab/external/motor.py
@@ -7,9 +7,14 @@
>>> servo.angle = 30 # Turn motor to 30 degrees position.
"""
+import time
+from typing import List
from typing import Union
+import csv
+import os
from pslab.instrument.waveform_generator import PWMGenerator
+from datetime import datetime
MICROSECONDS = 1e6
@@ -70,3 +75,95 @@ def _get_duty_cycle(self, angle):
angle *= self._max_angle_pulse - self._min_angle_pulse # Scale
angle += self._min_angle_pulse # Offset
return angle / (self._frequency**-1 * MICROSECONDS)
+
+
+class RoboticArm:
+ """Robotic arm controller for up to 4 servos."""
+
+ MAX_SERVOS = 4
+
+ def __init__(self, servos: List[Servo]) -> None:
+ if len(servos) > RoboticArm.MAX_SERVOS:
+ raise ValueError(
+ f"At most {RoboticArm.MAX_SERVOS} servos can be used, got {len(servos)}"
+ )
+ self.servos = servos
+
+ def run_schedule(self, timeline: List[List[int]], time_step: float = 1.0) -> None:
+ """Run a time-based schedule to move servos.
+
+ Parameters
+ ----------
+ timeline : List[List[int]]
+ A list of timesteps,where each sublist represents one timestep,
+ with angles corresponding to each servo.
+
+ time_step : float, optional
+ Delay in seconds between each timestep. Default is 1.0.
+ """
+ if len(timeline[0]) != len(self.servos):
+ raise ValueError("Each timestep must specify an angle for every servo")
+
+ tl_len = len(timeline[0])
+ if not all(len(tl) == tl_len for tl in timeline):
+ raise ValueError("All timeline entries must have the same length")
+
+ for tl in timeline:
+ for i, s in enumerate(self.servos):
+ if tl[i] is not None:
+ s.angle = tl[i]
+ time.sleep(time_step)
+
+ def import_timeline_from_csv(self, filepath: str) -> List[List[int]]:
+ """Import timeline from a CSV file.
+
+ Parameters
+ ----------
+ filepath : str
+ Absolute or relative path to the CSV file to be read.
+
+ Returns
+ -------
+ List[List[int]]
+ A timeline consisting of servo angle values per timestep.
+ """
+ timeline = []
+
+ with open(filepath, mode="r", newline="") as csvfile:
+ reader = csv.DictReader(csvfile)
+ for row in reader:
+ angles = []
+ for key in ["Servo1", "Servo2", "Servo3", "Servo4"]:
+ value = row[key]
+ if value == "null":
+ angles.append(None)
+ else:
+ angles.append(int(value))
+ timeline.append(angles)
+
+ return timeline
+
+ def export_timeline_to_csv(
+ self, timeline: List[List[Union[int, None]]], folderpath: str
+ ) -> None:
+ """Export timeline to a CSV file.
+
+ Parameters
+ ----------
+ timeline : List[List[Union[int, None]]]
+ A list of timesteps where each sublist contains servo angles.
+
+ folderpath : str
+ Directory path where the CSV file will be saved. The filename
+ will include a timestamp to ensure uniqueness.
+ """
+ timestamp = datetime.now().strftime("%Y-%m-%d_%H-%M-%S")
+ filename = f"Robotic_Arm{timestamp}.csv"
+ filepath = os.path.join(folderpath, filename)
+
+ with open(filepath, mode="w", newline="") as csvfile:
+ writer = csv.writer(csvfile)
+ writer.writerow(["Timestep", "Servo1", "Servo2", "Servo3", "Servo4"])
+ for i, row in enumerate(timeline):
+ pos = ["null" if val is None else val for val in row]
+ writer.writerow([i] + pos)
diff --git a/pslab/sciencelab.py b/pslab/sciencelab.py
index bf4b16f..1cbc81e 100644
--- a/pslab/sciencelab.py
+++ b/pslab/sciencelab.py
@@ -36,6 +36,7 @@ class ScienceLab:
def __init__(self, device: ConnectionHandler | None = None):
self.device = device if device is not None else autoconnect()
+ self.firmware = self.device.get_firmware_version()
self.logic_analyzer = LogicAnalyzer(device=self.device)
self.oscilloscope = Oscilloscope(device=self.device)
self.waveform_generator = WaveformGenerator(device=self.device)
@@ -293,7 +294,7 @@ def _uart_passthrough(self, baudrate: int) -> None:
self.device.send_byte(CP.PASSTHROUGHS)
self.device.send_byte(CP.PASS_UART)
self.device.send_int(self._get_brgval(baudrate))
- self.device.interface.baudrate = baudrate
+ self.device.baudrate = baudrate
def _uart_passthrough_legacy(self, baudrate: int) -> None:
self.device.send_byte(CP.PASSTHROUGHS_LEGACY)
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