# Tutorials

## 1. Basic structure of a research script

```python
from ur.ur_ctrl import UrCtrl, MotionMode

ROBOT_IP = "10.170.10.56"

with UrCtrl(ROBOT_IP) as robot:
    robot.set_speed(20)
    robot.set_accel(20)

    p = robot.current_position
    print(p)
```

## 2. Create taught points

```python
with URCtrl(ROBOT_IP) as robot:
    robot.teach("P1")
    robot.teach("J1")
```

## 3. Move to a taught point

```python
with URCtrl(ROBOT_IP) as robot:
    robot.move("P1", motion_mode=MotionMode.PTP)
```

## 4. Move linearly to a measurement position

```python
with URCtrl(ROBOT_IP) as robot:
    robot.move("P1", motion_mode=MotionMode.LINE, speed=10, accel=10)
```

## 5. Retract

```python
with URCtrl(ROBOT_IP) as robot:
    robot.move("P1+(0,0,50)", motion_mode=MotionMode.LINE)
```

## 6. Combine motion with IO

```python
with URCtrl(ROBOT_IP) as robot:
    robot.move("P_pick", motion_mode=MotionMode.LINE)
    robot.set_IO(0, True)

    robot.move("P_place", motion_mode=MotionMode.LINE)
    robot.set_IO(0, False)
```

## 7. Inspect the state and stop

```python
with URCtrl(ROBOT_IP) as robot:
    state = robot.state()

    if state.get("protective_stopped"):
        print(robot.get_current_error_info())
```

## 8. Integrate into an experimental sequence

```python
with URCtrl(ROBOT_IP) as robot:
    robot.move("P_sample", motion_mode=MotionMode.LINE)
    robot.set_IO(0, True)

    # Place instrument-control operations here
    # detector.start()
    # detector.wait()

    robot.set_IO(0, False)
    robot.move("P_home", motion_mode=MotionMode.PTP)
```

This allows robot operations to be written as part of a measurement sequence.