device_info = 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.')):
swift.set_speed_factor(0.0005)
swift.set_mode(0)
swift.reset(wait=True, speed=10000)
swift.set_position(x=200, speed=10000 * 20)
swift.set_position(y=100)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=200, speed=10000 * 20)
swift.set_polar(rotation=90)
swift.set_polar(height=150)
print(swift.set_polar(stretch=200, rotation=90, height=150, wait=True))
swift.flush_cmd()
# time.sleep(1)
# print('mv 1')
# swift.set_position(x=0, y=0, z=0, speed=10000*20)
# swift.flush_cmd(wait_stop=True)
# time.sleep(1)
# print('mv 2')
# swift.set_position(x=100, y=100, z=50, speed=10000*20)
# swift.flush_cmd(wait_stop=True)
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()
device_info = 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.')):
# swift.set_speed_factor(0.0005)
#set for general mode
swift.set_mode(0)
'''
swift.reset(wait=True, speed=100000)
swift.set_position(x=200, speed=100000)
swift.set_position(y=100)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
'''
'''
swift.set_polar(stretch=150, speed=100000)
swift.set_polar(rotation=0)
swift.set_polar(height=80)
print(swift.set_polar(stretch=150, rotation=0, height=80, wait=True))
swift.flush_cmd()
'''
'''
swift.set_polar(stretch=150, rotation=90, height=150, speed=100000, wait=True)
print(swift.set_polar(stretch=150, rotation=90, height=150, wait=True))
swift.set_polar(stretch=300, rotation=90, height=30, speed=100000, wait=True)
print(swift.set_polar(stretch=300, rotation=90, height=30, wait=True))
'''
speed = 30
swift.reset(wait=True, speed=speed)
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = 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.')):
# swift.set_speed_factor(0.0005)
#set for general mode
swift.set_mode(0)
swift.reset(wait=True, speed=250)
swift.set_polar(stretch=150, speed=250)
swift.set_polar(rotation=0, speed=250)
swift.set_polar(height=100, speed=250)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=200, speed=250)
swift.set_polar(rotation=90, speed=250)
swift.set_polar(height=50, speed=250)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=300, speed=250)
swift.set_polar(rotation=180, speed=250)
swift.set_polar(height=150, speed=250)
swift.flush_cmd(wait_stop=True)
swift.reset(wait=True, speed=100)
speed = 100000
# swift.reset(speed=speed)
while swift.connected:
swift.set_position(x=300, y=0, z=150, speed=speed)
swift.set_position(z=50)
swift.set_position(z=150)
swift.set_position(x=200, y=100, z=100)
swift.set_position(z=50)
swift.set_position(z=150)
swift.set_position(x=200, y=0, z=150)
swift.set_position(z=50)
swift.set_position(z=150)
swift.set_polar(stretch=200, rotation=90, height=150, speed=speed)
swift.set_polar(stretch=200, rotation=45, height=150, speed=speed)
swift.set_polar(stretch=200, rotation=135, height=150, speed=speed)
swift.set_polar(stretch=200, rotation=135, height=90, speed=speed)
swift.set_polar(stretch=200, rotation=135, height=200, speed=speed)
swift.set_polar(stretch=200, rotation=135, height=150, speed=speed)
swift.set_polar(stretch=200, rotation=135, height=150, speed=speed)
swift.set_polar(stretch=250, rotation=135, height=150, speed=speed)
swift.set_servo_angle(0, 45, speed=speed)
swift.set_servo_angle(0, 135, speed=speed)
swift.set_servo_angle(1, 45, speed=speed)
swift.set_servo_angle(1, 90)
swift.set_servo_angle(2, 45)
from uarm.wrapper import SwiftAPI
"""
api test: move
"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
swift.set_mode(0)
swift.reset(wait=True, speed=250)
swift.set_position(x=300, speed=250)
swift.set_position(y=200)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=300, rotation=0, height=100, wait=True)
swift.set_polar(stretch=300, speed=250)
swift.set_polar(rotation=0)
swift.set_polar(height=100)
print()
swift.flush_cmd()
time.sleep(3)
swift.disconnect()