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        "author": "Sean Clark",
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        "description": "# North C9\n\nThe North C9 library is a low level library wrapping the North C9 Controller protocol.\n\n\n## Installation\n\nInstall the `north_c9` library\n```bash\npip install git+https://gitlab.com/north-robotics/north_c9\n```\n\nImport the `C9Controller` class at the top of a Python file, or inside a Python console\n```python\nfrom north_c9.controller import C9Controller\n```\n   \nCreate a new `C9Controller` instance to connect to the C9 controller\n```python     \ncontroller = C9Controller()\n```\n\nNow you can move axes, toggle outputs and move the N9 (if available)\n```python\n# move axis 5 to 0 counts\ncontroller.move_axis(5, 0, velocity=1000, acceleration=5000)\n# rotate axis 5 once (motors have 1000 counts / revolution)\ncontroller.move_axis(5, 1000, velocity=1000, acceleration=5000, relative=True)\n# start spin axis 5\ncontroller.spin_axis(5, velocity=1000, acceleration=5000)\n# stop spinning axis 5\ncontroller.spin_axis_stop(5)\n\n# turn output 0 on and off\ncontroller.output(0, True)\ncontroller.output(0, False)\ncontroller.output_toggle(0)\n\n# home the N9\ncontroller.home()\n# move the N9 to x=0 mm, y=150 mm, z=150 mm and gripper=90 deg\ncontroller.move_arm(0, 150, 150, gripper=90)\n```",
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