# (async function () {
# // Reset uArm to its home position.
# await UArm.reset();
# await UArm.set_position({"x": 200, "y": 100, "z": 50});
# }());
#logger_init(logging.DEBUG)
#logger_init(logging.INFO)
import time
import numpy
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.VERBOSE)
swift = SwiftAPI()
time.sleep(2)
positions = numpy.linspace(-200, 200, 5)
swift.set_gripper(True)
time.sleep(5)
swift.set_gripper(False)
H_max = 10
S_max = 255
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)
class XYZSlider(QWidget):
def __init__(self):
print('here')
self.a = QApplication(sys.argv)
super().__init__()
self.initUI()
def show_ux(self):
sys.exit(self.a.exec_())
def initUI(self):
self.setGeometry(10, 10, 1500, 500)
self.addSliderZ()
self.addSliderX()
self.addSliderY()
self.addGripperButton()
self.connectButton = QPushButton('Connect', self)
self.connectButton.clicked.connect(self.handleConnectButton)
self.exitButton = QPushButton('Exit', self)
self.exitButton.clicked.connect(self.handleExitButton)
self.setGeometry(300, 300, 1500, 500)
self.setWindowTitle('Control Sliders')
self.sld1.setEnabled(False)
self.sldX.setEnabled(False)
self.sldY.setEnabled(False)
self.gripperButton.setEnabled(False)
self.mylayout()
self.show()
def mylayout(self):
self.qwsld = QWidget()
self.qwsld.setStyleSheet("Background-color: red")
self.grid = QGridLayout(self.qwsld)
self.setLayout(self.grid)
self.subW = QWidget()
self.grid.addWidget(self.subW, 1, 1)
self.subGridW = QGridLayout(self.subW)
self.setLayout(self.subGridW)
self.dummyW = QWidget()
connectButtonPos = {"r": 1, "c": 1}
exitButtonPos = {"r": 1, "c": 2}
gripperButtonPos = {"r": 2, "c": 1}
self.grid.addWidget(self.dummyW, 2, 2)
zSliderPos = {"r": 2, "c": 1}
zLabelPos = {"r": zSliderPos['r'], "c": 2}
xSliderPos = {"r": zSliderPos['r'] + 1, "c": zSliderPos['c']}
xLabelPos = {"r": zLabelPos['r'] + 1, "c": zLabelPos['c']}
ySliderPos = {"r": zSliderPos['r'] + 2, "c": zSliderPos['c']}
yLabelPos = {"r": zLabelPos['r'] + 2, "c": zLabelPos['c']}
print(connectButtonPos["r"], " ", connectButtonPos["c"])
self.subGridW.addWidget(self.connectButton, connectButtonPos["r"],
connectButtonPos["c"])
self.subGridW.addWidget(self.exitButton, exitButtonPos["r"],
exitButtonPos["c"])
self.subGridW.addWidget(self.gripperButton, gripperButtonPos["r"],
gripperButtonPos["c"])
self.grid.addWidget(self.l1, zLabelPos["r"], zLabelPos["c"])
self.grid.addWidget(self.sld1, zSliderPos["r"], zSliderPos["c"])
self.grid.addWidget(self.lX, xLabelPos["r"], xLabelPos["c"])
self.grid.addWidget(self.sldX, xSliderPos["r"], xSliderPos["c"])
self.grid.addWidget(self.lY, yLabelPos["r"], yLabelPos["c"])
self.grid.addWidget(self.sldY, ySliderPos["r"], ySliderPos["c"])
def addGripperButton(self):
self.gripper = True
self.gripperButton = QPushButton('Gripper', self)
self.gripperButton.clicked.connect(self.handleGripperButton)
def handleConnectButton(self):
print('In ConnectButton ')
self.swift = SwiftAPI(dev_port='COM4')
sleep(2)
print(self.swift.get_device_info())
print('set x=150, y=0, z=150')
self.uarmZ = 150
self.uarmX = 150
self.uarmY = 0
self.swift.set_position(x=self.uarmX,
y=self.uarmY,
z=self.uarmZ,
wait=True,
speed=2000)
self.swift.set_gripper(self.gripper)
self.sld1.setValue(self.uarmZ)
self.sldX.setValue(self.uarmX)
self.sldY.setValue(self.uarmY)
self.sld1.setEnabled(True)
self.sldX.setEnabled(True)
self.sldY.setEnabled(True)
self.gripperButton.setEnabled(True)
self.connectButton.setEnabled(False)
def handleGripperButton(self):
self.gripper = False if self.gripper else True #toggle
self.swift.set_gripper(self.gripper)
sleep(4)
def handleExitButton(self):
sys.exit()
#----------------------Z----------------
def changeValueSld1(self):
txt = "Z: " + str(self.sld1.value())
self.l1.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSld1(self):
print('sliderreleased slider is: ', self.sld1.value())
self.uarmZ = self.sld1.value()
self.swift.set_position(z=self.uarmZ, wait=True, speed=2000)
def addSliderZ(self):
self.sld1 = QSlider(Qt.Horizontal, self)
p = self.sld1.palette()
p.setColor(self.sld1.backgroundRole(), Qt.red)
self.sld1.setPalette(p)
self.sld1.setFocusPolicy(Qt.NoFocus)
self.sld1.setGeometry(30, 40, 1000, 30)
self.sld1.setMaximum(150)
self.sld1.setMinimum(0)
self.sld1.setTickPosition(QSlider.TicksBelow)
self.sld1.setTickInterval(5)
self.sld1.sliderReleased.connect(self.sliderReleaseSld1)
self.sld1.valueChanged.connect(self.changeValueSld1)
self.l1 = QLabel(self)
self.l1.setForegroundRole(QPalette.Dark)
self.l1.setText('Z:')
#-----------x-----------------------------------------------
def addSliderX(self):
self.sldX = QSlider(Qt.Horizontal, self)
p = self.sldX.palette()
p.setColor(self.sldX.backgroundRole(), Qt.red)
self.sldX.setPalette(p)
self.sldX.setFocusPolicy(Qt.NoFocus)
self.sldX.setGeometry(30, 40, 1000, 30)
self.sldX.setMaximum(350)
self.sldX.setMinimum(100)
self.sldX.setTickPosition(QSlider.TicksBelow)
self.sldX.setTickInterval(5)
self.sldX.sliderReleased.connect(self.sliderReleaseSldX)
self.sldX.valueChanged.connect(self.changeValueSldX)
self.lX = QLabel(self)
self.lX.setForegroundRole(QPalette.Dark)
self.lX.setText('X:')
def changeValueSldX(self):
txt = "X: " + str(self.sldX.value())
self.lX.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSldX(self):
print('sliderreleased X slider : ', self.sldY.value())
self.uarmX = self.sldX.value()
self.swift.set_position(x=self.uarmX, wait=True, speed=2000)
#-----------Y-----------------------------------------------
def addSliderY(self):
self.sldY = QSlider(Qt.Horizontal, self)
p = self.sldY.palette()
p.setColor(self.sldY.backgroundRole(), Qt.red)
self.sldY.setPalette(p)
self.sldY.setFocusPolicy(Qt.NoFocus)
self.sldY.setGeometry(30, 40, 1000, 30)
self.sldY.setMaximum(100)
self.sldY.setMinimum(-100)
self.sldY.setTickPosition(QSlider.TicksBelow)
self.sldY.setTickInterval(5)
self.sldY.sliderReleased.connect(self.sliderReleaseSldY)
self.sldY.valueChanged.connect(self.changeValueSldY)
self.lY = QLabel(self)
self.lY.setForegroundRole(QPalette.Dark)
self.lY.setText('Y:')
def changeValueSldY(self):
txt = "Y: " + str(self.sldY.value())
self.lY.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSldY(self):
print('sliderreleased Y slider : ', self.sldY.value())
self.uarmY = self.sldY.value()
self.swift.set_position(y=self.uarmY, wait=True, speed=2000)
swift.set_wrist(w, wait=True)
print('R rechts')
if event.code == 'ABS_RY' and event.state < -20000:
swift.set_position(z=-1, speed=20000, relative=True, wait=True)
print('R unten')
if event.code == 'ABS_RY' and event.state > 10000:
swift.set_position(z=+1, speed=20000, relative=True, wait=True)
print('R oben')
if event.code == 'BTN_SOUTH' and event.state == 1:
swift.set_pump(False)
print('A Button')
if event.code == 'BTN_WEST' and event.state == 1:
swift.set_gripper(True, timeout=10)
print('X Button - Start Position')
if event.code == 'BTN_EAST' and event.state == 1:
swift.set_gripper(False, timeout=10)
print('B Button')
if event.code == 'BTN_NORTH' and event.state == 1:
swift.set_pump(True)
print('Y Button')
if event.code == 'BTN_START' and event.state == 1:
print('Back Button')
if event.code == 'BTN_SELECT' and event.state == 1:
swift.set_position(150, 0, 150, speed=20000, timeout=20)
swift.set_wrist(90, wait=True) # lang
print('Start Button')
