def __init__(self,arduino_comm_num=0,gripper1_comm_num=3,gripper2_comm_num=1):
self.time_gap_valve_and_gripper = 0.1
# arduino object
self.objarduino=arduino_comm.CommModule(arduino_comm_num)
self.objarduino.arduinocomm()
# gripper 1 object
print("gripper1_comm_num :" + str(gripper1_comm_num))
self.objgripper1=gripper_comm.GripperIO(gripper1_comm_num)
self.objgripper1.set_speed(255)
self.objgripper1.set_force(0)
# gripper 2 object
print("gripper2_comm_num :"+str(gripper2_comm_num))
self.objgripper2=gripper_comm.GripperIO(gripper2_comm_num)
self.objgripper2.set_speed(255)
self.objgripper2.set_force(0)
self.open_pos_g1 = 170
self.open_pos_g2 = 170
self.close_pos_g1 = 255
self.close_pos_g2 = 255
def gripper_motion(req):
global objgripper_GREEN
rospy.loginfo(rospy.get_caller_id() + "I received %s", req.action)
rospy.loginfo("green has received this")
if req.action == "open":
objgripper_GREEN.go_to(50)
rospy.loginfo("Opened green")
elif req.action == "close":
objgripper_GREEN.go_to(250)
rospy.loginfo("Closed green")
elif req.action == "troubleshoot":
objgripper_GREEN.activate()
rospy.loginfo("None of the actions are performed")
return GripperMotionResponse("Done!")
def initialize_grippers():
rospy.init_node('gripper_green_motion')
s = rospy.Service('gripper_green_service', GripperMotion, gripper_motion)
rospy.spin()
if __name__ == "__main__":
objgripper_GREEN = gripper_comm.GripperIO(3)
objgripper_GREEN.set_speed(150)
objgripper_GREEN.set_force(245)
objgripper_GREEN.activate()
initialize_grippers()
#
#****************************************************************************************
import gripper_comm
import arduino_comm
import time
import sys
time_gap_valve_and_gripper = 0.1
# arduino object
objarduino = arduino_comm.CommModule(0)
objarduino.arduinocomm()
# gripper object
objgripper = gripper_comm.GripperIO(3)
objgripper.set_speed(255)
objgripper.set_force(0)
objgripper.activate()
def gripper_1_open_with_valves():
objarduino.valve_open(1)
time.sleep(2 * time_gap_valve_and_gripper)
objarduino.valve_open(2)
time.sleep(time_gap_valve_and_gripper)
objgripper.go_to(170)
def gripper_1_valves_close():
objarduino.valve_close(1)
def gripper_motion(req):
global objgripper_BLUE
rospy.loginfo(rospy.get_caller_id() + "I received %s", req.action)
rospy.loginfo("blue has received this")
if req.action == "open":
objgripper_BLUE.go_to(50)
rospy.loginfo("Opened blue")
elif req.action == "close":
objgripper_BLUE.go_to(250)
rospy.loginfo("Closed blue")
elif req.action == "troubleshoot":
objgripper_BLUE.activate()
rospy.loginfo("None of the actions are performed")
return GripperMotionResponse("Done!")
def initialize_grippers():
rospy.init_node('gripper_blue_motion')
s = rospy.Service('gripper_blue_service', GripperMotion, gripper_motion)
rospy.spin()
if __name__ == "__main__":
objgripper_BLUE = gripper_comm.GripperIO(1)
objgripper_BLUE.set_speed(150)
objgripper_BLUE.set_force(245)
objgripper_BLUE.activate()
initialize_grippers()