First time flexing your muscles

This page walks you through running your first script.

Run Your First Program Using the ThermoFlex™ Python API

Flex it. Don’t fry it.

🚨🚨🚨 READ THIS FIRST 🚨🚨🚨

🔥 Disclaimer: Use at Your Own Risk

This is experimental tech. It uses high-discharge batteries to heat metal wires, and if misused, it can get dangerously hot, melt stuff, or start a fire.

By purchasing and using this product, you understand and agree that:

• This is an experimental device intended for research and prototyping.

• You must operate it in a well-ventilated area, away from flammable or meltable objects.

• You are responsible for using this product safely and intelligently.

• Delta Robotics Inc. is not liable for any damage, injury, or fire resulting from its use.

We’ve taken every reasonable measure to make our products safe — and we’re working hard to make them even safer — but this system must be used at your own risk.

You have been warned!

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🚨 Run the Node Before Connecting a Muscle

This step is not optional. Skipping it could destroy your ThermoFlex™ Muscle before it even flexes.

Before plugging anything into the output port:

• Run the script once with no muscle connected. This confirms that your Node is alive and responding before it starts pushing current. If your code glitches and the muscle is connected, it can overheat and fail in seconds.

Why This Matters:

• The basic example script has no temperature sensing or current limits.

• If your setup delivers too much power for too long, the muscle will melt its sleeve, deform, or snap entirely.

• Nitinol doesn’t forgive. Once it’s cooked, it’s done.

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⚡ High-Discharge LiPo = High Risk

If you're using an 11.1 V LiPo with a high C-rating, the Node can unleash huge surges of current. It doesn’t limit output — it gives the muscle whatever the battery allows. That power can cook your actuator instantly.

We Recommend:

• Use a 3S 5200 mAh 80C LiPo with XT60 — our house standard.

• If you're new, go with a lower C-rating to reduce risk.

• Add an inline fuse or a current-limiting circuit.

• Upcoming firmware and hardware updates will add onboard thermal sensing and safer defaults, but until then, proceed with caution.

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1. Understand the Script You’re About to Run

This is our “Hello, World!” for muscles; it runs a simple 5-second heating cycle to make the actuator flex, then drops power to avoid damage.

Here’s what you should know:

• The script uses percent-based control, not temperature or current regulation.

• It’s calibrated for 11.1 V input. If you’re using a different voltage, results will vary.

• Too much time = cooked muscle. The example assumes ~5 seconds is safe for typical setups, but you need to calibrate it for your own hardware.

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2. How to Calibrate the Flex Safely

If you’re running the script for the first time with a muscle, do this:

1. Set a high timeout — something like tf.delay(100) to give yourself plenty of buffer (but don't let it actually run that long).

2. Lower the power — set "percent" to 0.3 or less. You can raise it later.

3. Watch the LED on the Node. It blinks when the muscle is enabled.

4. Start a stopwatch at the same moment the LED turns on.

5. Manually disable the muscle using the Node Controller button when the actuator finishes contracting.

6. Record the time it took to reach full contraction. Use that number in your script for safe automation.

7. Wait 30–40 seconds between runs to allow the muscle to cool, or use compressed air for faster testing.

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3. Your First Flex Script

Save this as first_program.py and run it using Python:

import thermoflex as tf  # Import the ThermoFlex API
import time  # Standard time module for delays

# Discover and connect to the first Node over USB
node_net = tf.discover([105])[0]  # 105 is the default USB connection code
node_net.refreshDevices()  # Refresh to find connected devices

# Wait briefly to ensure discovery is complete
time.sleep(1)

# Get the actual Node object from the discovered list
node = node_net.node_list[0]

# Define a muscle object and assign it to Port 0 (aka M1)
muscle = tf.Muscle(idnum=0)  # idnum = 0 maps to Port 0 (labeled M1 on the board)
node.setMuscle(0, muscle)  # Physically connects the virtual muscle to the board

# Move the Muscle
print("Activating Muscle!")
muscle.setMode("percent")  # Set control mode to % power (0 to 1 range)
muscle.setSetpoint("percent", 0.5)  # Command 50% power
muscle.setEnable(True)  # Enable the muscle (starts heating)
tf.delay(5)  # Run for 5 seconds at 50% — muscle should contract

# Reduce power to avoid overheating
muscle.setSetpoint("percent", 0.1)  # Drop to 10%

tf.delay(10)  # Run for 10 seconds at 10%  — adjust based on your setup and safety

# Stop the Muscle
print("Stopping Muscle!")
node.disableAll()  # Turns off all outputs

time.sleep(1)
tf.endAll()  # Cleanly end session (important for USB stability)

Or grab it here: simple example on GitHub

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4. Next Steps & Troubleshooting

• Read the ThermoFlex API Docs

• Report bugs or ask questions on GitHub

• Still stuck? Email us. We’ll help — and probably send a meme too.

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Now go forth and actuate. Whether you’re building a robot arm, a cyborg salamander, or a muscle-powered marshmallow launcher, you’re officially part of the future.

Welcome to Delta Robotics.

P.S. Share your builds — we love weird, wiggly, wonderful machines.

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