def __init__(self, master):
self.bioloid = RobArm();
self.servoPulseWidths = {}; #'base': 500, 'shoulder': 500, 'elbow': 500, 'hand': 500};
#self.bioloid.sendMotion(self.servoPulseWidths);
self.gotoNeutral();
self.entries = {};
f = Frame(master);
f.pack();
l = Label(f, text="Bioloid Remote");
l.pack(side=TOP);
f = Frame(master);
f.pack();
Label(f, text="Hand (#%2d): " % (self.bioloid.servoIDs['hand'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveHandLeft).pack(side=LEFT);
self.entries['hand']= Entry(f);
self.entries['hand'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveHandRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Elbow (#%2d): " % (self.bioloid.servoIDs['elbow'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveElbowLeft).pack(side=LEFT);
self.entries['elbow']= Entry(f);
self.entries['elbow'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveElbowRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Shoulder (#%2d): " % (self.bioloid.servoIDs['shoulder'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveShoulderLeft).pack(side=LEFT);
self.entries['shoulder']= Entry(f);
self.entries['shoulder'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveShoulderRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Base (#%2d): " % (self.bioloid.servoIDs['base'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveBaseLeft).pack(side=LEFT);
self.entries['base']= Entry(f);
self.entries['base'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveBaseRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Button(f, text=" Neutral Pose ", command=self.gotoNeutral).pack();
f = Frame(master);
f.pack();
Label(f, text="X: ").pack(side=LEFT);
self.entries['x']= Entry(f);
self.entries['x'].pack(side=LEFT);
f.pack();
Label(f, text="Y: ").pack(side=LEFT);
self.entries['y']= Entry(f);
self.entries['y'].pack(side=LEFT);
f.pack();
Label(f, text="interpolations: ").pack(side=LEFT);
self.entries['interpolationPoints']= Entry(f);
self.entries['interpolationPoints'].pack(side=LEFT);
self.entries['interpolationPoints'].insert(0, "1");
Button(f, text=" Do IK ", fg="red", command=self.doIK).pack(side=LEFT);
#!/usr/bin/python ## This is a quick script to have the arms trace a small circle import sys, os, math; from RobArm import *; #from LoidArm import *; rob = RobArm(); #loid = LoidArm(); c = [6, 6]; r = 3.0; # radius for i in range(0,36): i *= 10; j = (i / 180.0) * math.pi; x = r * math.cos(j) + c[0]; y = r * math.sin(j) + c[1]; print "X %.2f Y %.2f\n" % (x, y); degrees = rob.compute2DIK(x, y); print degrees; motion = rob.computePulseWidths(degrees); print motion; rob.sendMotion(motion, time=1, wait=False); # loid.sendMotion(motion, time=1, wait=False);
class Remote:
def __init__(self, master):
self.bioloid = RobArm();
self.servoPulseWidths = {}; #'base': 500, 'shoulder': 500, 'elbow': 500, 'hand': 500};
#self.bioloid.sendMotion(self.servoPulseWidths);
self.gotoNeutral();
self.entries = {};
f = Frame(master);
f.pack();
l = Label(f, text="Bioloid Remote");
l.pack(side=TOP);
f = Frame(master);
f.pack();
Label(f, text="Hand (#%2d): " % (self.bioloid.servoIDs['hand'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveHandLeft).pack(side=LEFT);
self.entries['hand']= Entry(f);
self.entries['hand'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveHandRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Elbow (#%2d): " % (self.bioloid.servoIDs['elbow'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveElbowLeft).pack(side=LEFT);
self.entries['elbow']= Entry(f);
self.entries['elbow'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveElbowRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Shoulder (#%2d): " % (self.bioloid.servoIDs['shoulder'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveShoulderLeft).pack(side=LEFT);
self.entries['shoulder']= Entry(f);
self.entries['shoulder'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveShoulderRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Label(f, text="Base (#%2d): " % (self.bioloid.servoIDs['base'])).pack(side=LEFT);
Button(f, text=" <- ", fg="red", command=self.moveBaseLeft).pack(side=LEFT);
self.entries['base']= Entry(f);
self.entries['base'].pack(side=LEFT);
Button(f, text=" -> ", fg="red", command=self.moveBaseRight).pack(side=LEFT);
f = Frame(master);
f.pack();
Button(f, text=" Neutral Pose ", command=self.gotoNeutral).pack();
f = Frame(master);
f.pack();
Label(f, text="X: ").pack(side=LEFT);
self.entries['x']= Entry(f);
self.entries['x'].pack(side=LEFT);
f.pack();
Label(f, text="Y: ").pack(side=LEFT);
self.entries['y']= Entry(f);
self.entries['y'].pack(side=LEFT);
f.pack();
Label(f, text="interpolations: ").pack(side=LEFT);
self.entries['interpolationPoints']= Entry(f);
self.entries['interpolationPoints'].pack(side=LEFT);
self.entries['interpolationPoints'].insert(0, "1");
Button(f, text=" Do IK ", fg="red", command=self.doIK).pack(side=LEFT);
def gotoNeutral(self):
self.bioloid.sendPose('neutral');
self.servoPulseWidths.update(self.bioloid.poses['neutral']);
#for i in self.entries:
#self.entries[i].
def updateEntries(self):
for i in ('base','shoulder', 'elbow', 'hand'):
self.entries[i].delete(0, END);
self.entries[i].insert(0, "%.2f" %(self.servoPulseWidths[i]));
def doIK(self):
x = int(self.entries['x'].get());
y = int(self.entries['y'].get());
interpolationPoints = int(self.entries['interpolationPoints'].get());
print "X = %d, Y = %d " % (x, y);
self.bioloid.moveToIK(x=x, y=y, interpolationPoints=interpolationPoints);
def moveBaseLeft(self):
self.servoPulseWidths['base'] += incr['base'];
self.bioloid.moveServoTo(servoIDs['base'], self.servoPulseWidths['base'], 10);
self.updateEntries();
def moveBaseRight(self):
self.servoPulseWidths['base'] -= incr['base'];
self.bioloid.moveServoTo(servoIDs['base'], self.servoPulseWidths['base'], 10);
self.updateEntries();
def moveShoulderLeft(self):
self.servoPulseWidths['shoulder'] += incr['shoulder'];
self.bioloid.moveServoTo(servoIDs['shoulder'], self.servoPulseWidths['shoulder'], 10);
self.updateEntries();
def moveShoulderRight(self):
self.servoPulseWidths['shoulder'] -= incr['shoulder'];
self.bioloid.moveServoTo(servoIDs['shoulder'], self.servoPulseWidths['shoulder'], 10);
self.updateEntries();
def moveElbowLeft(self):
self.servoPulseWidths['elbow'] += incr['elbow'];
self.bioloid.moveServoTo(servoIDs['elbow'], self.servoPulseWidths['elbow'], 10);
self.updateEntries();
def moveElbowRight(self):
self.servoPulseWidths['elbow'] -= incr['elbow'];
self.bioloid.moveServoTo(servoIDs['elbow'], self.servoPulseWidths['elbow'], 10);
self.updateEntries();
def moveHandLeft(self):
self.servoPulseWidths['hand'] += incr['hand'];
self.bioloid.moveServoTo(servoIDs['hand'], self.servoPulseWidths['hand'], 10);
self.updateEntries();
def moveHandRight(self):
self.servoPulseWidths['hand'] -= incr['hand'];
self.bioloid.moveServoTo(servoIDs['hand'], self.servoPulseWidths['hand'], 10);
self.updateEntries();
#!/usr/bin/python
## This is a quick script to move the 2 arms to neutral poses
from LoidArm import *;
from RobArm import *;
loid = LoidArm();
rob = RobArm();
loid.sendPose('neutral');
rob.sendPose('neutral');
