Command-Line Interface (CLI)

The Command-Line Interface (CLI) is included in the Python package. It provides a convenient way to interact with the actuator directly from the terminal. This is particularly useful for quick communication tests and for scanning devices on the CAN bus.

This section targets Python API 2.0.0.

Verifying the Installation

The CLI is installed alongside the Python package. To confirm that it is working correctly, run the following command:

pulsar-cli -h

This should display the help message.

You can also check the installed package version:

pulsar-cli --version

Using the CLI

General notes

If --port is omitted, the CLI tries to auto-detect the USB serial port.
When using CAN, --address is required. It accepts both hexadecimal and decimal notation, for example 0x10 or 16.
Run pulsar-cli <command> -h to see the options for a specific command.

Commands

Command	Purpose
`scan`	Scan the CAN bus for connected PULSAR devices.
`params`	Read parameters from a connected actuator.
`blink`	Blink an actuator LED to identify a device.
`home`	Store the current actuator position as the home position.

Scan for Devices

pulsar-cli scan

This command scans the CAN bus for connected PULSAR devices and lists their addresses. You need a CAN adapter connected and a correctly wired CAN bus.

Get Device Parameters

pulsar-cli params

You can retrieve all parameters of the connected device.

Examples:

pulsar-cli params  # Connects directly over USB

pulsar-cli params --port COM3 --address 0x10

Blink Device LED

pulsar-cli blink --address 0x10

This command blinks the actuator LED so that you can identify a device on the CAN bus. An address is required when identifying an actuator on a CAN bus.

Set Home Position

pulsar-cli home

This command stores the actuator's current position as the home position (zero reference). The position is stored in the device's non-volatile memory and is retained even after power cycling.