def main():
print('setup swift ...')
swift = SwiftAPI()
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
movements = [
{
'x': 180,
'y': 180,
'z': 30
},
{
'x': 180,
'y': -180,
'z': 30
},
{
'x': 250,
'y': 0,
'z': 150
},
{
'x': 150,
'y': 0,
'z': 30
},
]
for movement in movements:
print('\nset ' + ' '.join(
["%s%d" % (key.upper(), value)
for key, value in movement.items()]))
swift.set_position(wait=True, **movement)
sleep(0.1)
while swift.get_is_moving():
sleep(0.1)
swift.set_buzzer()
print('done ...')
while True:
sleep(1)
def init_uarm():
print('setup swift ...')
# port = '/dev/' + [x for x in os.listdir('/dev/') if x.startswith('cu.usbmodem')][0]
# port = '/dev/' + [x for x in os.listdir('/dev/') if x.startswith('ttyA')][0]
# swift = SwiftAPI(dev_port='/dev/cu.usbmodem1421')
# print(port)
# swift = SwiftAPI(dev_port=port)
swift = SwiftAPI()
sleep(2)
# 复位
# swift.set_position(x=60, y=0, z=50, speed=1800, wait=True)
# swift.set_position(x=60, y=0, z=50, speed=1800, wait=False)
# while swift.get_is_moving():
# sleep(0.1)
swift.set_buzzer()
return swift
# you have to specify all arguments for x, y, z and the speed
swift.set_position(330, 0, 100, speed=1500, timeout=20)
swift.flush_cmd() # avoid follow 5 command timeout
print('\nset X340 ...')
swift.set_position(330, 0, 150, speed=1500)
print('set X320 ...')
swift.set_position(320, 0, 150, speed=1500)
print('set X300 ...')
swift.set_position(300, 0, 150, speed=1500)
print('set X200 ...')
swift.set_position(200, 0, 150, speed=1500)
print('set X190 ...')
swift.set_position(190, 0, 150, speed=1500)
# wait all async cmd return before send sync cmd
swift.flush_cmd()
print('set Z100 ...')
swift.set_position(190, 0, 100, speed=1500, wait=True)
print('set Z150 ...')
swift.set_position(190, 0, 150, speed=1500, wait=True)
swift.set_buzzer()
print('get_position:', swift.get_position())
print('done ...')
while True:
sleep(1)
print('setup swift ...')
# swift = SwiftAPI(dev_port = '/dev/ttyACM0')
# swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
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('开始测试')
swift.set_buzzer()
swift.set_buzzer()
print('解锁电机')
swift.set_servo_detach()
sleep(10)
swift.set_buzzer()#TODO 哔哔2声
swift.set_buzzer()
sleep(2)
print('解锁电机')
swift.set_servo_attach()
sleep(3)
print('重置机械臂')
swift.set_buzzer()
import sys, os
from time import sleep
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
# from uf.wrapper.uarm_api import UarmAPI
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
print('Start Testing')
swiftPro = SwiftAPI()
sleep(2)
print(swiftPro.get_device_info())
while True:
print('\nset X340 ...')
swiftPro.set_position(340, 0, 150)
print('set X320 ...')
swiftPro.set_position(320, 0, 150)
print('set X300 ...')
swiftPro.set_position(300, 0, 150)
print('set X200 ...')
swiftPro.set_position(200, 0, 150)
print('set X190 ...')
swiftPro.set_position(190, 0, 150)
swiftPro.flush_cmd()
swiftPro.set_buzzer()
print('doneOnce')
sleep(10)
test_buzzer_1.py:
"""
import os
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
from time import sleep
#
arm_move = False
logger_init(logging.INFO)
print('setup swift ...')
# def get_uarm_port():
# TD
# pass
port = '/dev/' + [x for x in os.listdir('/dev/') if x.startswith('cu.usbmodem')][0]
# swift = SwiftAPI(dev_port='/dev/cu.usbmodem1421')
print(port)
swift = SwiftAPI(dev_port=port)
sleep(0.5)
# swift.set_buzzer(freq = 1000, time = 200)
swift.set_buzzer(freq = 500, time = 10000)
# for x in range(100,5000,100):
# print(x)
# swift.set_buzzer(freq=x, time=200)
# sleep(3)
