class SerialDobotCalibrator(object):
def __init__(self, port):
self.dobot = Dobot(port, DEFAULT_BAUDRATE)
def get_position(self):
pose = self.dobot.get_pose()
return {'x': pose['x'], 'y': pose['y'], 'z': pose['z']}
def initialize(self):
self.dobot.initialize()
def __init__(self, port):
self.dobot = Dobot(port, DEFAULT_BAUDRATE)
def get_dobot(port):
logging.info(
'Opening serial port {} to communicate with dobot.'.format(port))
return Dobot(port, DEFAULT_BAUDRATE)
self.dobot = dobot
def do_init(self, _):
print("initializing dobot")
self.dobot.initialize()
self.dobot.wait()
def do_move(self, line):
print(line)
args = line.split(' ')
self.dobot.move(float(args[0]), float(args[1]), float(args[2]))
def do_lmove(self, line):
print(line)
args = line.split(' ')
self.dobot.linear_move(float(args[0]), float(args[1]), float(args[2]))
def do_getpose(self, _):
print(self.dobot.get_pose())
# todo: キャリブレーション用コマンド
def do_EOF(self, _):
self.dobot.close()
return True
if __name__ == '__main__':
c = DobotCUI(Dobot('/dev/ttyUSB0', DEFAULT_BAUDRATE))
c.cmdloop()
class SerialDobotCalibrator(object):
def __init__(self, port):
self.dobot = Dobot(port, DEFAULT_BAUDRATE)
def get_position(self):
pose = self.dobot.get_pose()
return {'x': pose['x'], 'y': pose['y'], 'z': pose['z']}
def get_rotation(self):
pose = self.dobot.get_pose()
return {'r': pose['r']}
def initialize(self):
self.dobot.initialize()
def wait(self):
self.dobot.wait()
def move(self, x, y, z=0, r=0):
self.dobot.move(x, y, z, r)
def grip(self, on):
self.dobot.grip(on)
def pump(self, on):
self.dobot.pump(on)
def rotate_gripper(self, delta):
pose = self.dobot.get_pose()
self.dobot.adjust_r(pose['r'] + delta)