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Add 'README.md'

Martin Kunz 2 years ago
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+# Festo FHPP XML-RPC Server for UR10/uraxis
+See also uraxis
+
+#### /
+Index
+
+#### /rel(int relPos, int speed) 
+Perform relative movement by relPos ticks at speed.
+Blocks until position reached (calls checkPos()).
+
+#### /abs(int targetPos, int speed)
+Perform absolute movement to targetPos at speed.
+Blocks until position reached (calls checkPos()).
+
+### /getpos()
+Fetches live status from axis and returns current position.
+
+### /ready
+Enable freedrive/teach - Mode
+    
+### /status
+Returns map of status flags
+    
+### Usage
+```python
+Usage: <main class> [-h] [-aip=<axisIP>] [-ap=<axisPort>] [-p=<port>]
+      -aip, --axisip=<axisIP>
+                      Axis ip address
+      -ap, --axisport=<axisPort>
+                      Axis modbus port
+  -h, --help          display a help message
+  -p, --port=<port>   HTTP Server port
+```
+
+```
+./jdk-12+33-jre/bin/java -jar urweb-1.0-SNAPSHOT-shaded.jar
+```
+
+## Deployment
+
+[systemd service documentation](https://www.freedesktop.org/software/systemd/man/systemd.service.html)
+```python
+[Unit]
+Description=uraxisdaemon
+After=syslog.target
+
+[Service]
+Type=notify
+NotifyAccess=all
+WorkingDirectory=/opt/myserver/
+ExecStart=/usr/bin/java -server -jar uraxisdaemon.jar -p=8080 -aip=192.168.30.200 -ap=30001
+# WatchdogSec=30
+Restart=always
+
+[Install]
+WantedBy=multi-user.target
+```