class set_arm_control():
def __init__(self,RELAY_PIN=12):
self.arm = SwiftAPI()
self.arm.get_power_status()
self.RELAY_PIN = RELAY_PIN
self.arm.reset()
#機械手臂進行初始化動作
def set_arm_origin(self):
self.arm.waiting_ready()
self.arm.set_position(200, 0, 170, speed=100000)
# 機械手臂設定(x, y, z)座標移動
def set_arm_move(self, x, y, z):
self.arm.set_position(x, y, z, speed=100000)
# 機械手臂切斷連線
def arm_disconnect(self):
self.arm.disconnect()
def get_position(self):
print(self.arm.get_position())
#初始設定繼電器
def origin_pump(self):
GPIO.setmode(GPIO.BOARD) # 指定模式BOARD 啟用RPi板子相對應之腳位編號
GPIO.setwarnings(False) # 避免出現警告
GPIO.setup(self.RELAY_PIN, GPIO.OUT) # 設定pin腳為輸出
#打開幫浦=開啟繼電器(使電流流通)
def start_pump(self):
GPIO.output(self.RELAY_PIN, 0)
#關閉幫浦=關閉繼電器(使電流不能流通)
def close_pump(self):
GPIO.output(self.RELAY_PIN, 1)
class uArmSwift:
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
if not self.swift.connected:
print('lose connect')
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.00005)
self.swift.set_mode(0)
self.speed = 500000
self.swift.set_wrist(angle=90)
self.wristAngle = self.swift.get_servo_angle(0, timeout=10)
def set_position(self, x=100, y=0, z=100, wait=False):
self.swift.set_position(x, y, z, speed=self.speed, wait=wait)
def set_polar(self, stretch, rotation, height, wait=False):
self.swift.set_polar(stretch,
rotation,
height,
speed=self.speed,
wait=wait)
def set_servo_angle(self, num, angle, wait=False):
if num < 0 and num > 3:
print("num is wrong")
self.swift.set_servo_angle(num,
angle,
wait,
speed=self.speed,
wait=wait)
def set_wrist(self, angle=90, wait=False): # 第四电机
self.swift.set_wrist(angle, wait)
def set_pump(self, on=False):
self.swift.set_pump(on)
def set_buzzer(self, freq=1000, duration=1, wait=False):
self.swift.set_buzzer(freq, duration, wait)
def get_position(self):
return self.swift.get_position()
def get_servo_angle(self, id=0):
return self.swift.get_servo_angle(id, timeout=10)
def is_moving(self):
return self.swift.get_is_moving()
def disconnect(self):
self.swift.disconnect()
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift3 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
device_info = swift.get_device_info()
print(swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.00001)
swift.set_servo_detach()
input('A4')
swift.set_servo_attach()
pos = swift.get_position()
print(pos);
bias = 23;
swift.reset(speed=10000000);
seqs = ["F", "G", "E", "A", "D", "G", "C", "C"]
# seqs = ["C", "C", "D", "D", "E", "E", "D", "D"]
count = 0;
while True:
count = count + 1
seq = seqs[count % len(seqs)]
print(seq);
class uarmRobotClass(object):
def __init__(self):
self.x_pos = 0
self.y_pos = 0
self.tcp_rot = 0
self.z_pos = 0
self.pick = 0
self.connect = 0
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
self.swift.set_speed_factor(0.5)
self.swift.waiting_ready(timeout=3)
self.swift.disconnect()
def openPort(self):
self.swift.connect()
#swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
self.swift.set_speed_factor(0.5)
self.swift.waiting_ready(timeout=3)
self.swift.set_position(150, 0, 50, wait=True)
def closePort(self):
self.swift.disconnect()
self.swift.waiting_ready(timeout=3)
def move(self):
Index = 0
pick = 0
connect = 0
while True:
if (dummy == False) and (connect == 0) and (self.connect == 1):
self.openPort()
ret = self.swift.get_position(wait=True)
print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2]))
x_pos = ret[0]
y_pos = ret[1]
tcp_rot = ret[2]
print("connected")
connect = 1
if (dummy == False) and (connect == 1) and (self.connect == 0):
self.closePort()
connect = 0
print("disconnnected")
if (self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0) or (self.pick != 0) or (self.connect != 0):
if logLevel > 1:
print("index = %d: x_pos = %d; y_pos = %d; z_pos = %d; tcp_rot = %d; pick = %d; connect = %d" % (Index, self.x_pos, self.y_pos, self.z_pos, self.tcp_rot, self.pick, self.connect))
Index = Index + 1
if (dummy == False) and (connect == 1) and ((self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0)):
self.swift.set_position(x=self.x_pos, y=self.y_pos, z=self.z_pos, wait=True, relative=True);
ret = self.swift.get_position(wait=True)
if logLevel > 0:
print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2]))
if (dummy == False) and (pick == 0) and (self.pick != 0):
self.swift.set_pump(on=True)
pick = 1
if (dummy == False) and (pick == 1) and (self.pick == 0):
self.swift.set_pump(on=False)
pick = 0
time.sleep(0.001);
class uArm():
def __init__(self):
self.scope = 10
self.x0 = 160
self.y0 = 0
self.swift = SwiftAPI(filters={'hwid':'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
# self.swift.set_speed_factor(0.005) # if you change this, be prepared for different movements!
self.swift.set_mode(mode=0)
time.sleep(0.5)
self.swift.set_servo_angle(angle=90)
self.swift.set_wrist(angle=90)
self.swift.set_position(x=200,y=0,z=20) # start it off with a salute
self.swift.set_buzzer(frequency=1000, duration=1) # signal ready
self.lstValidCharSet = ['?','A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z',\
'-','0','1','2','3','4','5','6','7','8','9']
self.lstLetter = [self.QuestionMark, self.LetterA, self.LetterB, self.LetterC, self.LetterD, self.LetterE, self.LetterF,\
self.LetterG, self.LetterH, self.LetterI, self.LetterJ, self.LetterK, self.LetterL, self.LetterM, self.LetterN,\
self.LetterO, self.LetterP, self.LetterQ, self.LetterR, self.LetterS, self.LetterT, self.LetterU, self.LetterV,\
self.LetterW, self.LetterX, self.LetterY, self.LetterZ, self.Hyphen, self.Number0, self.Number1, self.Number2,\
self.Number3, self.Number4, self.Number5, self.Number6, self.Number7, self.Number8, self.Number9]
def __del__(self):
input("PLEASE SUPPORT uARM ARM!!, then strike ENTER to continue ...")
self.swift.set_buzzer(frequency=600, duration=2)
self.swift.set_position(x=200,y=0,z=20)
self.swift.flush_cmd()
self.swift.disconnect()
del self.swift
self.swift = None
def arm(self):
"""
Using this method to allow raw access to the uArm if required
"""
return self.swift
def insert_pen(self):
self.swift.set_buzzer(frequency=1000, duration=0.5) # signal ready
self.swift.set_servo_angle(angle=90)
time.sleep(0.5)
self.swift.set_wrist(angle=90)
time.sleep(0.5)
self.swift.set_position(x=200,y=0,z=0)
while (self.swift.get_is_moving()):
continue
input("Set pen in universal holder, then strike ENTER to continue ...")
self.swift.set_position(x=200,y=0,z=10)
return
def pen_up(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 10)
time.sleep(0.5)
return 10
def pen_down(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 0)
time.sleep(0.5)
return 0
def setScope(self, strName):
"""
based upon the length of strName, determine the scope (char width) and starting X, Y positions
assuming that the center of the page is 160,0
x extent is 110 - 210, y extent 80 - (-80) (x axis is PARALLEL to the arm, short edge of the paper)
"""
if type(strName) == str:
strName = strName[:26] # going to truncate user input to a 26 characters max
intLenName = len(strName)
if (intLenName < 4):
self.scope = 40.0 # keeping it real
else:
self.scope = math.floor(160.0/(intLenName * 1.1))
self.x0 = 160 - (0.5 * self.scope)
self.y0 = self.scope * intLenName * 1.1 / 2
return
def LetterSelect(self, c):
"""
given char c, return the plotting function
index 0 resolves to the question mark character
"""
index = 0
if type(c) == str:
if c == ' ':
return self.SpaceBar
else:
c = c.upper()
if c in self.lstValidCharSet:
index = self.lstValidCharSet.index(c) - self.lstValidCharSet.index('A') + 1 # 0th item is '?'
# if c in ['A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z']:
# index = ord(c) - ord('A') + 1 # using question mark as the 0th index item
return self.lstLetter[index] # return the function to use
from uarm.wrapper import SwiftAPI
swift = SwiftAPI()
swift.waiting_ready(timeout=10)
swift.set_position(140, 0, 10, wait=True)
swift.set_servo_detach()
test1 = swift.get_position()
print(test1)
test2 = swift.get_servo_angle()
print(test2)
test = input(
"now the uArm is detached, that mean you can freely move the arm without the servo-motors blocking it. for the next step, deplace the arm in another position than before and type enter to continue"
)
test1 = swift.get_position()
print(test1)
test2 = swift.get_servo_angle()
print(test2)
test = input(
"has you can see, the arm has moved but the position is the same : after detached the arm, if you move it you can only have the servo-motors angles. type enter to continue BUT be careful : the arm will be attach so don't block it in any way."
)
swift.set_servo_attach()
swift.set_position(140, 0, 50, wait=True)
class uart:
available_pixel = {} #rgb values of all the paints
swift = None #robot arm object
device_info = None
firmware_version = None
image = None #image you're trying to paint
canvas = None #image of the canvas as you're working on it
canvas_corners = None #points of the four corners of the canvas (in robot arm coords)
ptransform = None #contains the warped image of
M = None #transformation matrix
xScale = None
yScale = None
#
# __init__
# im = the image you're trying to paint
# pixels = the dictionary of colors you have access to
# initialized = a list of booleans determining which values you will initialize
# [ True = available_pixel uses pixels parameter otherwise use defaults,
# True = set swift to SwiftAPI object otherwise set them to None,
# True = set image to a blank white 200x200 image,
# True = calibrate canvas_corners using setFourCorners otherwise set to a preset
# True = set ptransform using the webcam
# ]
#
def __init__(self, im, pixels, initialized):
if initialized[0]:
self.available_pixel = pixels
else:
self.available_pixel = {'red':[255,0,0], 'green':[0,255,0], 'blue':[0,0,255],'magenta':[255,0,255], 'tomato':[255,99,71], 'lawn green':[124,252,0]}
if initialized[1]:
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.device_info = self.swift.get_device_info()
self.firmware_version = self.device_info['firmware_version']
self.swift.set_mode(0)
if initialized[2]:
self.image = im
if initialized[3] and initialized[1]:
print("moving")
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
# self.swift.set_wrist(20)
# time.sleep(1)
# self.swift.set_wrist(90)
print("Setting four corners; input tl, tr, bl or br")
self.canvas_corners = self.setFourCorners()
else:
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
self.canvas_corners = [
[263,50,103], #tl
[263,-50,103],#tr
[241,50,-12],#bl
[241,-50,-12]]#br
print("Setting four corners to default coordinates")
if initialized[4]:
_, cap = cv2.VideoCapture(0).read()
self.ptransform = perspective.PerspectiveTransform(cap)
self.M = self.get_m(200,200)
self.xScale = self.get_scale(len(im[0]),[self.canvas_corners[0],self.canvas_corners[1]])
self.yScale = self.get_scale(len(im),[self.canvas_corners[0],self.canvas_corners[2]])
print("Arm all set up!")
#
# new xy to xyz function using algebra/geometry
#
def xy_to_xyz2(self, xy):
#print("xy", xy)
#print("xscale", self.xScale)
#print("yscale", self.yScale)
out = np.add(np.multiply(xy[0],self.xScale) + np.multiply(xy[1],self.yScale), self.canvas_corners[0])
print(out)
return out
#
# GET SCALE
#
def get_scale(self, pix, corners):
dif = np.subtract(corners[0], corners[1])
return -(dif/pix)
#
# HEAT MAP
#
def generate_heatmap(self):
image = self.image.astype(dtype='int32')
canvas = self.ptransform.warped.astype(dtype='int32')
subtraction = np.subtract(image,canvas)
print(subtraction)
heatmap = np.full(im.shape,255, dtype='uint8')
print(heatmap.shape)
for i in range(subtraction.shape[0]):
for j in range(subtraction.shape[1]):
if (subtraction[i][j] < 0):
heatmap[i][j][0] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
elif (subtraction[i][j] > 0):
heatmap[i][j][2] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
return heatmap
#
# GETS CLOSEST COLOR
#
def get_closest_color(self, chosen_pixel):
available_pixel = self.available_pixel
distances = []
for key, value in available_pixel.items():
a1 = np.asarray(value)
c1 = np.asarray(chosen_pixel)
curr_dist = np.linalg.norm(a1 - c1)
distances += [curr_dist]
if(curr_dist == min(distances)):
curr_key = key
return curr_key
#
# move_to_file
#
def move_to_file(self, filename):
var = []
count = 0
lines = open(filename, "r").read().split('\n')
x,y,z,f,angle = 0
moveArm,moveWrist = False
for i in range(len(lines)):
for word in lines[i].split(' '):
if(word is 'G0'):
moveArm = True
if(word[0] is 'X'):
x = float(word[1:])
elif(word[0] is 'Y'):
y = float(word[1:])
elif(word[0] is 'Z'):
z = float(word[1:])
elif(word[0] is 'F'):
f = float(word[1:])
elif(word is 'WA'):
moveWrist = True
angle = float(word[1:])
if(moveArm):
self.swift.set_position(x=x, y=y, z=z, speed =f, cmd = "G0")
moveArm = False
time.sleep(1)
if(moveWrist):
self.swift.set_wrist(angle)
moveWrist = False
time.sleep(1)
coordinates.close()
#
# SETTING FOUR CORNERS
#
def setFourCorners(self):
speed_s = 10000
delay = 1
cmd_s = 'G0'
todo = 4
coords = [[], [], [], []]
while todo >0:
key = input()
if key == "tr":
newCoord = self.swift.get_position()
coords[1] = newCoord
todo -= 1
print("Top right coordinate saved as ", newCoord)
elif key == "tl":
newCoord = self.swift.get_position()
coords[0] = newCoord
todo -= 1
print("Top left coordinate saved as", newCoord)
elif key == "bl":
newCoord = self.swift.get_position()
coords[2] = newCoord
todo -= 1
print("Bottom left coordinate saved as", newCoord)
elif key == "br":
newCoord = self.swift.get_position()
coords[3] = newCoord
todo -= 1
print("Bottom right coodirnate saved as", newCoord)
return coords
#
# SAVED COORDS TO FILE
#
def saveCoordsToFile(self, fn):
delay = 1
coords = []
while True:
key = input()
if key == "save":
newCoord = swift.get_position()
coords.append(newCoord)
print("New coordinate saved as" + str(newCoord))
elif key == "done":
break
elif key.isdigit():
coords.append(int(key))
if os.path.exists(fn + ".uar"):
os.remove(fn + ".uar")
file = open(fn + ".uar", "w+")
for c in coords:
if not check(c):
file.write("G0 X%f Y%f Z%f F5000\n" %(c[0], c[1], c[2]))
else:
self.set_wrist(c)
file.write("WA " %(c))
coordinates.close()
moveTo(fn + ".uar")
return coords
def check(inp):
try:
num_float = float(inp)
return True
except:
return False
#
# GET M
#
def get_m(self, width, height):
A = np.transpose(self.canvas_corners)
print(A)
B = [[0,0,1],[width,0,1],[0,height,1],[width,height,1]]
B = np.transpose(B)
print(B)
pinvB = np.linalg.pinv(B)
print(pinvB)
M = np.matmul(A, np.linalg.pinv(B))
print(M)
return M
#
# xytoxyz
#
def xy_to_xyz(self,xy):
xyz = [xy[0],xy[1],1]
xyz = np.transpose(xyz)
return np.matmul(self.M,xyz)
#
# go to position
#
def go_to_position(self, xyz, f):
print('going to : ', xyz)
self.swift.set_position(x=xyz[0], y=xyz[1], z=xyz[2], speed = f, cmd = "G0")
#: time.sleep(1)
#
# draw a line
#
# start and end: [x,y]
def draw_line(self, start, end):
startxyz = self.xy_to_xyz2(start)
endxyz = self.xy_to_xyz2(end)
start_pre = [startxyz[0]-20, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-20, endxyz[1], endxyz[2]]
print("going to start pre")
self.go_to_position(start_pre, 10000)
print("going to start")
self.go_to_position(startxyz, 5000)
print("going to end")
self.go_to_position(endxyz, 5000)
print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
#
def draw_line2(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
start_pre = [startxyz[0]-5, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-5, endxyz[1], endxyz[2]]
#print("going to start pre")
self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
#print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
# does NOT go to pre and post painting position
#
def draw_line3(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
#print("going to start pre")
#self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
class UArmHandler(object):
def __init__(self, ui):
super(UArmHandler, self).__init__()
self.ui = ui
self.arm = None
self.port = None
self.cmd_que = queue.Queue(100)
self.cmd_thread = XArmThread(self.cmd_que, check=False)
self.cmd_thread.signal.connect(self.run_cmd)
self.cmd_thread.start()
self.report_que = queue.Queue()
self.report_thread = XArmThread(self.report_que, check=True)
self.report_thread.signal.connect(self.update_ui)
self.report_thread.start()
def run_cmd(self, item):
try:
if self.arm and self.arm.connected:
func = getattr(self.arm, item['cmd'])
# log(item['cmd']+':', func(*item.get('args', []), **item.get('kwargs', {})))
ret = func(*item.get('args', []), **item.get('kwargs', {}))
if item['cmd'] == 'get_position' and isinstance(
ret, list) and len(ret) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': ret,
'angles': None
}
})
elif item['cmd'] == 'get_polar' and isinstance(
ret, list) and len(ret) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': [None, None, None, *ret],
'angles': None
}
})
elif item['cmd'] == 'get_servo_angle' and isinstance(
ret, list) and len(ret) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': None,
'angles': ret
}
})
elif item['cmd'] == 'get_device_info':
self.report_que.put({'type': 'info', 'item': ret})
elif item['cmd'] == 'get_mode' or item['cmd'] == 'set_mode':
self.report_que.put({
'type': 'mode',
'item': {
'mode': ret
}
})
# if isinstance(ret, int) and ret == TCP_OR_JOINT_LIMIT:
# self.ui.reset_flag()
logger.debug('cmd: {}, ret:{}, args: {}, kwargs: {}'.format(
item['cmd'], ret, item.get('args', []),
item.get('kwargs', {})))
else:
self.cmd_que.queue.clear()
self.report_connected_callback({'connected': False})
logger.debug('cmd: {}, ret: xArm is not connected'.format(
item['cmd']))
except:
pass
def connect(self, port):
try:
logger.debug('try connect to {}'.format(port))
if self.arm and self.arm.connected:
logger.info('disconnect from {}'.format(self.port))
self.arm.disconnect()
except Exception as e:
print(e)
threading.Thread(target=self.connnect_thread,
args=(port, ),
daemon=True).start()
def connnect_thread(self, port):
try:
self.port = port
self.arm = SwiftAPI(port=port, do_not_open=True)
self.arm.connect()
if not self.arm.connected:
time.sleep(0.5)
self.arm.waiting_ready()
self.report_connected_callback({'connected': True})
device_info = self.arm.get_device_info()
self.report_que.put({'type': 'info', 'item': device_info})
mode = self.arm.get_mode()
self.report_que.put({'type': 'mode', 'item': {'mode': mode}})
position = self.arm.get_position()
if isinstance(position, list) and len(position) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': position,
'angles': None
}
})
polar = self.arm.get_polar()
if isinstance(polar, list) and len(polar) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': [None, None, None, *polar],
'angles': None
}
})
angles = self.arm.get_servo_angle()
if isinstance(angles, list) and len(angles) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': None,
'angles': angles
}
})
return True
except Exception as e:
# print(e)
self.report_connected_callback({'connected': False})
def disconnect(self):
try:
if self.arm and self.arm.connected:
self.arm.disconnect()
self.report_connected_callback({'connected': False})
# logger.info('diconnect from {}'.format(self.addr))
except Exception as e:
print(e)
def update_ui(self, data):
item = data['item']
if data['type'] == 'timeout':
if not self.arm or not self.arm.connected:
self.ui.update_connect_status(False)
elif data['type'] == 'connect':
self.ui.update_connect_status(item['connected'])
elif data['type'] == 'location':
pos = item['position']
angles = item['angles']
if angles:
self.ui.axis_ui.update_joints(angles)
if pos:
self.ui.cartesian_ui.update_cartesians(pos)
elif data['type'] == 'info':
self.ui.update_device_info(item)
elif data['type'] == 'mode':
self.ui.update_mode(item['mode'])
def report_connected_callback(self, item):
self.report_que.put({'type': 'connect', 'item': item})
def put_cmd_que(self, item):
self.cmd_que.put(item)
ret = swift.get_power_status()
print('power status: {}'.format(ret))
ret = swift.get_device_info()
print('device info: {}'.format(ret))
ret = swift.get_limit_switch()
print('limit switch: {}'.format(ret))
ret = swift.get_gripper_catch()
print('gripper catch: {}'.format(ret))
ret = swift.get_mode()
print('mode: {}'.format(ret))
print('set mode:', swift.set_mode(1))
ret = swift.get_mode()
print('mode: {}'.format(ret))
ret = swift.get_servo_attach(servo_id=2)
print('servo attach: {}'.format(ret))
ret = swift.get_servo_angle()
print('servo angle: {}'.format(ret))
def print_callback(ret, key=None):
print('{}: {}'.format(key, ret))
swift.get_polar(wait=False, callback=functools.partial(print_callback, key='polar'))
swift.get_position(wait=False, callback=functools.partial(print_callback, key='position'))
swift.flush_cmd()
swift.disconnect()
class MinionArm:
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.0005)
self.speed = 110000
self.test()
self.board = "right"
def test(self):
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
self.swift.reset(wait=True, speed=self.speed)
self.move(1250, 0, 150, self.speed)
print(self.swift.get_position())
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def home(self):
print("going home")
self.swift.set_position(x=150, y=0, speed=self.speed * 0.5, wait=True)
self.move(145, 0, 100, self.speed * 1.5)
time.sleep(2)
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def rest(self):
print("going to rest position")
self.swift.set_position(x=150, speed=self.speed * 0.5, wait=True)
self.swift.set_position(x=125, y=0, speed=self.speed * 0.5, wait=True)
self.move(125, 0, 40, self.speed * 0.5)
time.sleep(2)
self.swift.set_buzzer(frequency=1000, duration=0.5)
def move(self, x, y, z, speed):
self.swift.set_position(x, y, z, speed, wait=True)
def flip(self):
print("flipping")
# self.home()
self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
if self.board == "right":
self.flip_left()
self.board = "left"
else:
self.flip_right()
self.board = "right"
self.home()
self.swift.set_buzzer(frequency=500, duration=1.0, wait=True)
def flip_left(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
# self.move(220, 10, 140, self.speed*.2)
self.move(220, 40, 150, self.speed * .2)
# self.move(220, 40, 110, self.speed*.2)
# self.move(220, 60, 100, self.speed*.2)
self.move(220, 50, 30, self.speed * .2)
time.sleep(1)
self.move(180, 50, 20, self.speed * .2)
time.sleep(2)
def flip_right(self):
self.move(180, 0, 150, self.speed)
self.move(240, -10, 150, self.speed)
# self.move(220, -20, 140, self.speed*.2)
self.move(220, -40, 150, self.speed * .2)
# self.move(220, -50, 110, self.speed*.2)
# self.move(220, -60, 100, self.speed*.2)
self.move(220, -60, 20, self.speed * .2)
self.move(180, -50, 20, self.speed * .2)
time.sleep(2)
def move_to_galton_cal_pos(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
wait = input("waiting")
self.home()
def disconnect(self):
self.swift.disconnect()
