def main(): arm = meArm.meArm() arm.begin() try: while True: arm.openGripper() arm.closeGripper() arm.openGripper() arm.closeGripper() arm.openGripper() arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 150, 0) arm.gotoPoint(0, 150, 150) arm.gotoPoint(0, 150, 50) arm.gotoPoint(-150, 150, 50) arm.gotoPoint(150, 150, 50) arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 100, 50) except KeyboardInterrupt: # CTRL+C exit, inform the server to stop pwm.set_pwm(0, 0, 0) # switch off signal pwm.set_pwm(1, 0, 0) # switch off signal pwm.set_pwm(2, 0, 0) # switch off signal pwm.set_pwm(3, 0, 0) # switch off signal
def main(): arm = meArm.meArm() while True: arm.openGripper() arm.closeGripper() arm.openGripper() arm.closeGripper() arm.openGripper() arm.gotoPoint(0, 10, 20) time.sleep(0.5) arm.gotoPoint(0, 20, 50) time.sleep(0.5) arm.gotoPoint(0, 50, 70) time.sleep(0.5) arm.gotoPoint(0, 20, 100) time.sleep(0.5) arm.gotoPoint(1, 1, 1) time.sleep(0.5) arm.gotoPoint(50, 50, 100) time.sleep(0.5) arm.gotoPoint(20, 30, 50) time.sleep(0.5) arm.gotoPoint(10, 10, 20) time.sleep(0.5)
def main(): arm = meArm.meArm() arm.begin() #test base arm.goDirectlyTo(-195, 100, 50) arm.goDirectlyTo(0, 200, 50) arm.goDirectlyTo(195, 100, 50)
def main(): arm = meArm.meArm() arm.begin() while True: arm.openGripper() time.sleep(5) arm.closeGripper() arm.gotoPoint(0, 100, 50) return 0
def main(): arm = meArm.meArm() arm.begin() while True: arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 150, 0) arm.gotoPoint(0, 150, 150) arm.gotoPoint(0, 150, 50) arm.gotoPoint(-150, 150, 50) arm.gotoPoint(150, 150, 50) arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 100, 50)
def __init__(self, cam): self.adc = TyAdc.TyAdc() self.arm = meArm.meArm( cal.BASE_MIN_PWM, cal.BASE_MAX_PWM, cal.BASE_MIN_ANGLE_RAD, cal.BASE_MAX_ANGLE_RAD, cal.SHOULDER_MIN_PWM, cal.SHOULDER_MAX_PWM, cal.SHOULDER_MIN_ANGLE_RAD, cal.SHOULDER_MAX_ANGLE_RAD, cal.ELBOW_MIN_PWM, cal.ELBOW_MAX_PWM, cal.ELBOW_MIN_ANGLE_RAD, cal.ELBOW_MAX_ANGLE_RAD, cal.CLAW_MIN_PWM, cal.CLAW_MAX_PWM, cal.CLAW_MIN_ANGLE_RAD, cal.CLAW_MAX_ANGLE_RAD) self.arm.begin(pwmFrequency=cal.PWM_FREQUENCY) time.sleep(0.5) self.open(92) self.cam = cam self.keymap = key.KeyMap(cam) self.speech = sphinx.SpeechDetector()
def main(): arm = meArm.meArm() arm.begin() while True: arm.openGripper() arm.closeGripper() arm.openGripper() arm.closeGripper() arm.openGripper() arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 150, 0) arm.gotoPoint(0, 150, 150) arm.gotoPoint(0, 150, 50) arm.gotoPoint(-150, 150, 50) arm.gotoPoint(150, 150, 50) arm.gotoPoint(0, 150, 50) arm.gotoPoint(0, 100, 50)
def test(): host=meArm.windows() me=meArm.meArm(host) tick() me.claw() tick() me.lift(40) tick() me.lower(40) tick() me.rotateLeft(90) tick() me.rotateRight(90) tick() me.up(40) tick() me.lower(40) tick() me.claw() print("Test Complete")
engine=pyttsx.init() except: print("voice is unavailable") def speak(phrase): try: print(phrase) #engine.say(phrase) #engine.runAndWait() except: print(phrase) speak("initializing") try: me = meArm.meArm(meArm.windows()) except: me = meArm.meArm(meArm.linux()) speak("Testing") me.rotateRight(80) me.forward(35) for i in range(5, 30,5): time.sleep(0.1) me.leftUp(5) i+=5
#!/usr/bin/python import web import meArm import Adafruit_CharLCD as LCD lcd = LCD.Adafruit_CharLCDPlate() import time # import several libraries we need urls = { '/robot', 'robot' # set up url address } arm = meArm.meArm() arm.begin() arm.closeGripper() x=0 y=100 z=50 def move_forward(): #define every function global y y=y+50 # only make the value of y changes if -219<=y and y<=219: arm.gotoPoint(x,y,z) lcd.set_color(1.0, 0.0, 0.0) lcd.clear() lcd.message('Move forward') else: y=y-50 lcd.set_color(1.0, 0.0, 0.0) lcd.clear()
#!/usr/bin/env python # -*- coding: utf-8 -*- # # MeArmCalIK.py import meArm #import local config info execfile('MeArm_Cal_Jetson_Configuration.py') arm = meArm.meArm( BASE_MIN_PWM, BASE_MAX_PWM, BASE_MIN_ANGLE_RAD, BASE_MAX_ANGLE_RAD, SHOULDER_MIN_PWM, SHOULDER_MAX_PWM, SHOULDER_MIN_ANGLE_RAD, SHOULDER_MAX_ANGLE_RAD, ELBOW_MIN_PWM, ELBOW_MAX_PWM, ELBOW_MIN_ANGLE_RAD, ELBOW_MAX_ANGLE_RAD, CLAW_MIN_PWM, CLAW_MAX_PWM, CLAW_MIN_ANGLE_RAD, CLAW_MAX_ANGLE_RAD) arm.begin()
#this lab is completed by Sihan Wu, Yihan Dai and Yitong Wang together import web import meArm import Adafruit_CharLCD as LCD lcd = LCD.Adafruit_CharLCDPlate() import time # import several libraries we need urls = { '/robot', 'robot' # set up url address } arm = meArm.meArm() arm.begin() arm.closeGripper() x=0 y=100 z=50 def move_forward(): #define every function global y y=y+50 # only make the value of y changes if -219<=y and y<=219: arm.gotoPoint(x,y,z) lcd.set_color(1.0, 0.0, 0.0) lcd.clear() lcd.message('Move forward') else: y=y-50 lcd.set_color(1.0, 0.0, 0.0) lcd.clear() lcd.message('wrong') # if instructions will make arm go beyond range, then display wrong