import KNI
from KNI import TMovement
#############################################################################################
import KNI
KNI.initKatana("../../configfiles450/katana6M90T.cfg", "192.168.1.1")
KNI.calibrate(0)
home = TMovement()
KNI.getPosition(home.pos)
home.transition = KNI.PTP
home.velocity = 50
home.acceleration = 2
raw_input("Press [ENTER] to release robot.")
KNI.allMotorsOff()
stackname = "test"
raw_input("Press [ENTER] to store first point (p2p movement).")
m = TMovement()
KNI.getPosition(m.pos)
m.transition = KNI.PTP
m.velocity = 50
m.acceleration = 2
KNI.pushMovementToStack(m, stackname)
raw_input("Press [ENTER] to store second point (linear movement).")
m = TMovement()
KNI.getPosition(m.pos)
m.transition = KNI.LINEAR
def switch_manual(self):
"""WARNING: Allow free manual handling of the robot. ALL MOTORS OFF!"""
if KNI.allMotorsOff() == -1:
raise SpineError('failed to switch motors off')
self._motors_on = False
