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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.

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

The CLI provides several commands to interact with the PULSAR actuator. Here are some common commands:

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.

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. Use the -h flag to see more options.

Get Device Parameters

pulsar-cli params
You can retrieve all parameters of the connected device. Use the -h flag to see more options.

Examples:

pulsar-cli params  # Connects directly over USB

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

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 for this command.

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. Use the -h flag to see more options.