#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
"""
api test: set
"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
swift.set_buzzer(frequency=1000, duration=2, wait=True)
print(swift.set_pump(on=True))
time.sleep(2)
print(swift.set_pump(on=False))
print(swift.set_gripper(catch=True))
time.sleep(2)
print(swift.set_gripper(catch=False))
time.sleep(4)
swift.flush_cmd()
swift.disconnect()
from datetime import datetime
from uarm.wrapper import SwiftAPI
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
speed = 20000
swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Wischer
swift2.waiting_ready()
swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Stift
swift1.waiting_ready()
# Stift Setting
swift1.set_position(150, 0, 10, speed=speed, timeout=20)
swift1.set_wrist(90)
time.sleep(2)
swift1.set_gripper(True)
time.sleep(2)
swift1.set_position(150, 0, 20, speed=speed, timeout=20)
time.sleep(2)
# Wischer Setting
swift2.set_position(150, 0, 0, speed=speed, timeout=20)
swift1.set_wrist(90)
time.sleep(2)
swift2.set_gripper(True)
swift2.set_position(110, 0, 20, speed=speed, timeout=20)
time.sleep(2)
def z1():
swift1.set_position(z=-10, relative=True)
