def dobotPort(port, fungsi):
if fungsi == 1:
main = Dobot(port=port)
return main
if fungsi == 2:
jog = JOG(port=port)
return jog
def dobot():
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
y += 50
device.move_to(x, y, z, r, wait=False)
x -= 15
device.move_to(x, y, z, r, wait=False)
x += 30
y += 20
device.move_to(x, y, z, r, wait=False)
x += 30
y -= 20
device.move_to(x, y, z, r, wait=False)
x -= 15
device.move_to(x, y, z, r, wait=False)
y -= 50
device.move_to(x, y, z, r, wait=False)
x -= 30
device.move_to(x, y, z, r, wait=False)
device.move_to(
x, y, z, r,
wait=True) # we wait until this movement is done before continuing
device.close()
def __init__(self, dobotPort='/dev/ttyUSB0'):
available_ports = glob('/dev/tty*USB*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port /dev/tty*USB* found for Dobot Magician')
exit(1)
#self.DobotPort = 'COM4'
self.DobotPort = dobotPort;
self.ecRelay = Relay(18);#bcm pin for physical pin 12
self.pdRelay = Relay(24);#bcm for physical 18
self.rhRelay = Relay(23);#bcm for physical 16
self.gripper = ServoGripper(2);
self.dvc = DigitalVoltControl();
self.lastCmd = [0,0,0,0]; #x, y, z, r
print("Setting Port to " + self.DobotPort);
self.device = Dobot(port=self.DobotPort)
time.sleep(1)
if self.device is not None:
print("Opened connection")
self.device.speed(60)
self.z_up = 100
self.z_down = -70
#self.RH_Voltage = 2.5;
#self.PD_Voltage = 1.9;
#self.EC_Voltage = 4.8;
self.home_xyzr = [215, 0, self.z_up, 0];
global global_status
global_status = "Rh Electroplating";
def move(from_x, from_y, from_z, to_x, to_y, to_z):
convert_arm_coordinate(from_x, from_y, from_z)
bot = Dobot(port=port, verbose=True)
bot.move_to(finx, finy, finz)
bot._set_end_effector_suction_cup(True)
bot.move_to(finx, finy, 60)
convert_arm_coordinate(to_x, to_y, to_z)
bot.move_to(finx, finy, 60)
bot.move_to(finx, finy, finz)
bot.suck(False)
def connect_dobot():
available_ports = glob('/dev/ttyUSB0') # mask for OSX Dobot port
if len(available_ports) == 0:
print("NOT FOUND!!!")
print('no port found for Dobot Magician')
exit(1)
#
device = Dobot(port=available_ports[0])
print("Connected")
return device
def __init__(self,streamload,mtx=[],dist=[]):
self.refh = 20
self.z_ = None
self.H = []
self.imaskG = []
self.mtx = mtx
self.dist = dist
self.awaycoor = (-25,-230,50)
self.cencoor = (254,8,13)
self.armcp = np.array([[271.55,7.53],[272.76,91.28],[319.10,6.78],
[268.29,-163.73],[207.71,77.28],[304.95,-91.05]])
self.streamload = streamload
port = list_ports.comports()[0].device
device = Dobot(port=port,verbose=False)
self.device = device
self.columns = os.get_terminal_size().columns
def _connect_dobot(self, i):
try:
portArray = [
"/dev/ttyUSB0", "/dev/ttyUSB01", "/dev/ttyUSB2",
"/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyUSB5", "/dev/ttyS0",
"/dev/ttyS1", "/dev/ttyS2", "/dev/ttyS3", "/dev/ttyS4",
"/dev/ttyS5"
]
self.device = Dobot(port=portArray[i], verbose=False)
print("連接成功")
except Exception as e:
print("無法在" + portArray[i] + "連接Dobot\n原因:" + str(e))
if (i < len(portArray) - 1):
print("沒關係的別驚慌,我會嘗試連接下一個port\n")
self._connect_dobot(i + 1)
else:
print("連接失敗，請檢查是否有將dobot接上USB")
def main():
global bootOffset
global nextBlue
global nextOrange
global tokensInPlay
global orangeStorage
global blueStorage
global playArea
if not simulate:
port0 = list_ports.comports()[0].device
device0 = Dobot(port=port0, verbose=True)
(x1, y1, z1, r1, j1, j2, j3, j4) = device0.pose()
bootOffset["x"] = x1
bootOffset["y"] = y1
bootOffset["z"] = z1
# print(f'x:{x1} y:{y1} z:{z1} r:{0} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device0.speed(250, 250)
device0.move_to(x1, y1, z1 - 1, 0, wait=False)
device0.suck(True)
device0.move_to(
x1, y1, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(
x1 + 81.5, y1 - 94.5, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(
x1 + 81.5, y1 - 94.5, z1, 0, wait=False
) # we wait until this movement is done before continuing
device0.suck(False)
device0.move_to(
x1 + 81.5, y1 - 94.5, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(x1 - 36, y1 - 56, z1 + 20, 0, wait=False)
try:
os.remove("position_log.txt")
except Exception as e:
print("Exception while deleting file position_log.txt: " + str(e))
# starting move to reposition home block from center of grid to last position of orange nest
while (1):
if (inputSource == "buttons"):
if GPIO.input(button1) == 0:
playStep("11")
if GPIO.input(button2) == 0:
playStep("12")
if GPIO.input(button3) == 0:
playStep("13")
if GPIO.input(button4) == 0:
playStep("21")
if GPIO.input(button5) == 0:
playStep("22")
if GPIO.input(button6) == 0:
playStep("23")
if GPIO.input(button7) == 0:
playStep("31")
if GPIO.input(button8) == 0:
playStep("32")
if GPIO.input(button9) == 0:
playStep("33")
elif (inputSource == "console"):
while True:
consoleInput = ""
while consoleInput == "":
consoleInput = ""
consoleInput = input(
"Select a position to place your token. Use the number pad orientation:\n"
)
if len(consoleInput) == 1 and consoleInput.isdigit():
playStep(digitInputLookup[str(consoleInput)])
elif len(consoleInput) > 1:
print("Please enter only one position!")
elif not consoleInput.isdigit():
print("Please enter only one digit!")
def moveToken(sourceSpace, targetSpace, colorToMove, clearing=False):
print("moveToken called with: {} {} {}".format(str(sourceSpace),
str(targetSpace),
str(colorToMove)))
global tokensInPlay
global playArea
# use sourcePosition and targetPosition to lookup the xyz values to call with
if not clearing:
targetPosition = playArea[str(targetSpace)]
sourcePosition = orangeStorage[str(
sourceSpace)] if colorToMove == "orange" else blueStorage[str(
sourceSpace)]
playArea[str(targetSpace)].color = colorToMove
tokensInPlay += 1
else:
sourcePosition = playArea[str(sourceSpace)]
targetPosition = orangeStorage[str(
targetSpace)] if colorToMove == "orange" else blueStorage[str(
targetSpace)]
playArea[str(sourceSpace)].color = "empty"
tokensInPlay -= 1
if simulate:
print("Would move token color {} from {} to {}.".format(
colorToMove.upper(), "({}, {})".format(str(sourcePosition.xPos),
str(sourcePosition.yPos)),
"({}, {})".format(str(targetPosition.xPos),
str(targetPosition.yPos))))
else:
port0 = list_ports.comports()[0].device
device0 = Dobot(port=port0, verbose=False)
(x, y, z, r, j1, j2, j3, j4) = device0.pose()
#file.write(datetime.datetime.now())
# posLog("Button1")
# posLog(f'{x - x1} {y - y1} {z - z1} {j1} \n')
# pick up next orange piece (need to figure out how to find next) (pick up first orange)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] + 20,
0,
wait=True)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] - 1,
0,
wait=False)
device0.suck(True)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] + 20,
0,
wait=False)
# place piece in grid 1
device0.move_to(bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] + 20,
0,
wait=False)
device0.move_to(bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] - 1,
0,
wait=False)
device0.suck(False)
sleep(0.5)
device0.move_to(
bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] + 20,
0,
wait=True) # we wait until this movement is done before continuing
# go to neutral pose
device0.move_to(bootOffset["x"] - 36,
bootOffset["y"] - 56,
bootOffset["z"] + 20,
0,
wait=True)
elif (mode == 0):
device.set_io_multiplexing(index, EIOMode.IO_FUNC_DUMMY)
device.set_io_do(index, 0)
return ("IO %d INPUT" % (index))
available_ports = []
for port in list_ports.comports():
if (port.pid == 0x7523 and port.vid == 0x1a86):
available_ports.append(port.device)
if len(available_ports) == 0:
print("No Dobot found")
exit()
device = Dobot(port=available_ports[0], verbose=False, skipInit=False)
device._get_device_version()
print(("Dobot device version: %d.%d.%d" %
(device.majorVersion, device.minorVersion, device.revision)))
webRespDict["/version"] = (
"Dobot device version: %d.%d.%d" %
(device.majorVersion, device.minorVersion, device.revision))
webRespDict["/jog"] = jogMachine
webRespDict["/emotor"] = moveEMotor
webRespDict["/pose"] = getPose
webRespDict["/home"] = home
webRespDict["/moveinc"] = moveInc
webRespDict["/io"] = accessIOPorts
laserJig = LaserJig.LaserJig(device)
from serial.tools import list_ports import util from pydobot import Dobot port = list_ports.comports()[0].device device = Dobot(port=port, verbose=False) util.pushCubeQueue(device) device.close()
import time
from glob import glob
from pydobot import Dobot
available_ports = glob('/dev/cu*usb*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port found for Dobot Magician')
exit(1)
device = Dobot(port=available_ports[0])
time.sleep(0.5)
device.speed(100)
device.go(250.0, 0.0, 25.0)
device.speed(10)
device.go(250.0, 0.0, 0.0)
time.sleep(2)
device.close()
print("menunggu koneksi")
conn, client_address = sock.accept()
global client_address
global conn
print('alamat : {}'.format(client_address))
tersambung = False
feedback("terhubung") #---------->> TCP-IP
if error == 0 or error == "EMG" or error == "":
print("set port")
try:
avail_ports = setportlokal()
print(avail_ports)
if avail_ports != False:
feedback("serial") #------------>>Serial
dobotkk = Dobot(avail_ports[0])
print("kk")
global dobotkk
sendpose(1, 0)
mainset = dobotPort(avail_ports[0], 1)
print("mainset")
global mainset
jog = dobotPort(avail_ports[0], 2)
print("jog")
global jog
mmove = manualmove(avail_ports[0])
print("mmove")
global move
PTPm = PTP(avail_ports[0])
print("ptpm")
global PTPm
from serial.tools import list_ports
from pydobot import Dobot
port0 = list_ports.comports()[0].device
device = Dobot(port=port0, verbose=True)
while 1 < 2:
(x, y, z, r, j1, j2, j3, j4) = device.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
#device.speed(100, 100)
#device.move_to(x + 20, y+20, z+20, r-20, wait=False)
#device.suck(True)
#device.move_to(x, y, z, r, wait=False) # we wait until this movement is done before continuing
#device.suck(False)
device.close()
#if psutil.OSX:
# available_ports = glob('/dev/cu*usbserial*') # mask for OSX Dobot port
#if psutil.LINUX:
# available_ports = glob('/dev/ttyUSB*') # mask for Linux Dobot port
available_ports = []
for port in list_ports.comports():
if (port.pid == 0x7523 and port.vid == 0x1a86):
available_ports.append(port.device)
if len(available_ports) == 0:
print("No Dobot found")
exit()
device = Dobot(port=available_ports[0], verbose=True)
device._get_device_version()
#test only
#device._set_end_effector_parameters(65) #paste dispenser
#device._get_end_effector_parameters()
#device._get_jog_joint_parameters() #default: jog joint velocity 15.0, 15.0, 15.0, 30.0. jog joint acceleration 50.0, 50.0, 50.0, 50.0
#device._get_jog_coordinate_parameters() #default:jog coordinate velocity 60.0, 60.0, 60.0, 60.0. jog coordinate acceleration 60.0, 60.0, 60.0, 60.0
#device._set_jog_common_parameters(1.5,5.0)
#device._get_jog_common_parameters() #default jog velocityRatio:15.000 jog accelerationRatio:50.000
#device.set_arc_params(50,50);
#device.move_to(200,0,25,0, wait=True)
#device.arc_via_to(210,0,25,0,220,10,25,0, wait=True)
def connect(self):
port = list_ports.comports()[0].device
self.rob = Dobot(port=port, verbose=True)
self.set_speed(False)
time.sleep(1.0)
self.go_home(self.op_interval)
from serial.tools import list_ports
from pydobot import Dobot
port0 = list_ports.comports()[0].device
port1 = list_ports.comports()[1].device
device0 = Dobot(port=port0, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device0.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device1 = Dobot(port=port1, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device1.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device0.home(True)
device0.close()
device1.close()
def __init__(self):
port = list_ports.comports()[0].device
self.device = Dobot(port=port, verbose=False)
"""@Author: Sameer Kesava"""
from google import auth #for authorization
import os
import time
import dialogflow #Google Natural Language Processing API
from pydobot import Dobot # Dobot
serial_port = input('Enter the serial port connecting the Dobot: ')
dobot = Dobot(port=serial_port)
# Set the speed of the Dobot
speed = 100
dobot.speed(speed)
json_file = input('Enter path to the json credentials file: ')
#Authorization to login to the project chosen during gcloud init
os.environ['GOOGLE_APPLICATION_CREDENTIALS'] = json_file
credentials, project = auth.default()
#Creating a session using the credentials
session_client = dialogflow.SessionsClient(credentials=credentials)
session_ID = input('Enter a name for session id: ')
#Final step setting up a session
session = session_client.session_path(project, session_ID)
from board import *
from utils import *
import time
import cv2
import vision
from pydobot import Dobot
# 连接机械臂
global device
device = Dobot(port='com6', verbose=False)
time.sleep(0.5)
device.speed(1)
device._get_pose()
# 位置初始化
device.go_init_pos()
def text_objects(text, font):
textSurface = font.render(text, True, black)
return textSurface, textSurface.get_rect()
def message_display(text, x, y, size):
largeText = pygame.font.Font('freesansbold.ttf', size)
TextSurf, TextRect = text_objects(text, largeText)
TextRect.center = (x, y)
screen.blit(TextSurf, TextRect)
pygame.display.update()
# Copyright (c) 2020 Sagar Gubbi. All rights reserved. # Use of this source code is governed by a BSD-style license that can be # found in the LICENSE file. from pydobot import Dobot d = Dobot(port='/dev/ttyUSB0', verbose=False) d.wait_for_cmd(d.home()) d.close()
def __init__(self, port):
self.device = Dobot(port=port, verbose=True)
self.home_x = 200
self.home_y = 0
self.home_z = 135
def __init__(self):
self.port = list_ports.comports()[0].device
self.device = Dobot(port=self.port, verbose=True)
self.device.speed(100,100)