class RobotMapper:
BOUNDS = (150, -80, 225, 80)
MOVE_SPEED = 1500
LASER_SPEED = 150
# 180 > 150
def __init__(self, dev_port, z_height=180):
self.draw_height = z_height
self.current_map = None
self.running = False
# Set up robot
print("Connecting to robot")
self.swift = SwiftAPI(dev_port=dev_port)
sleep(2)
print("Done Connecting")
self.reset()
def draw_map(self, map):
""" Resize map and prep for use, then start running"""
map = map.fit_to(self.BOUNDS)
self.current_map = map
self.swift.set_position(150,
0,
self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
for cur_pt, next_pt, pen_down in self.current_map:
if not pen_down: continue
self.draw_line(cur_pt, next_pt)
self.reset()
def draw_line(self, from_pt, to_pt):
# Make sure it's a valid request
if from_pt == to_pt: return
LASER_CMD = "G1 X{} Y{} Z{} F{}"
# Get into the correct position before drawing the linn
cur_pos = self.swift.get_position()[:2]
if cur_pos != from_pt:
print("Moving to", from_pt, "from", cur_pos)
self.swift.set_position(x=from_pt[0],
y=from_pt[1],
z=self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
# Actually draw the line
print("Drawing Line: ", from_pt, to_pt)
to_pt = [int(round(to_pt[0])), int(round(to_pt[1]))]
cmd = LASER_CMD.format(to_pt[0], to_pt[1], self.draw_height,
self.LASER_SPEED)
assert self.swift.send_cmd_sync(
cmd) == "ok", "Unable to send robot to using laser command!"
# Set the position normally, to turn off the laser
self.swift.set_position(x=to_pt[0],
y=to_pt[1],
z=self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
def stop(self):
self.running = False
self.reset()
def reset(self):
""" Put the swift in a resting position """
self.swift.set_polar(s=112,
r=90,
h=67,
speed=self.MOVE_SPEED,
wait=True)
import sys, os
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.DEBUG)
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print("Allowing extrusion")
swift.send_cmd_sync("G2203")
V_max = 255
# could not open port 'COM4': PermissionError(13, 'Access is denied.', None, 5)
accessed = False
while not accessed:
try:
swift = SwiftAPI()
accessed = True
except Exception as e:
time.sleep(0.2)
print('device info: ')
print(swift.get_device_info())
swift_r = swift.set_gripper(True)
swift.set_position(x=200, y=0, z=5, relative=False, speed=20000, wait=True)
swift_r = swift.send_cmd_sync("M204 P700 R700 T700\n")
swift.set_position(x=200, y=0, z=3, relative=False, speed=20000, wait=True)
for i in range(15):
_, frame = cap.read()
#r = cv2.selectROI(frame)
#print(r)
#time.sleep(555)
if RESCALE_FACTOR == 0.5:
r = (66, 21, 560, 270)
elif RESCALE_FACTOR == 1.0:
r = (104, 36, 1136, 557)
# so it doesnt keep swinging to hit puck:
release_step = 0.025
total_liquid = release_step * (len(coords) + 500)
step_proportional = 2
protection_sip = 1.5
starting_x = 164.36
starting_y = -19
printing_z = 28.5
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print("Allowing extrusion")
swift.send_cmd_sync("M302 S0")
print('get_position:', swift.get_position())
swift.set_wrist(90)
swift.set_position(120, 0, 50, speed=15000, wait=True) # Home
swift.set_position(131, -5, 90, speed=15000, wait=True)
#swift.set_position(139.88, -112.31, 60.24, speed=30000, timeout=30, wait=True) # Center in first pippet
#swift.set_position(z=-43.25, speed=30000, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-60, speed=300, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-65, speed=300, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-69, speed=300, timeout=30, wait=True) # Acquire pippet
#sleep(0.1)
#swift.set_position(z=60.24, speed=30000, timeout=30, wait=True)
swift.set_position(x=221, y=-114.5, z=80, speed=30000, timeout=30,
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.DEBUG)
def report_position(position):
print("x:{x} y:{y} z:{z} ".format(x=position[0],
y=position[1],
z=position[2]))
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
sleep(2)
swift.send_cmd_sync("M2019")
"""Normally, all joint could be attach by command:
M17 # for all, or
M2201 N0~3 # for specified joint
detach by:
M2019 # for all, or
M2202 N0~3 # for specified joint
"""
swift.register_report_position_callback(report_position)
swift.set_report_position(1)
while (True):
pass
