class MyArm():
def __init__(self, speed=1, logging=False):
self.speed = speed * 10000
self.timout = 20
if logging: logger_init(logging.INFO)
self.robot = SwiftAPI()
time.sleep(2)
def goto(self, x, y, z, wait=False):
print('goto', x, y, z)
self.robot.set_position(x,
y,
z,
speed=self.speed,
timeout=self.timout,
wait=wait,
relative=False)
def step(self, x=None, y=None, z=None, wait=False):
if x is None: x = 0
if y is None: y = 0
if z is None: z = 0
print('goto', x, y, z)
self.robot.set_position(x,
y,
z,
speed=self.speed,
timeout=self.timout,
wait=wait,
relative=True)
def grab(self, value=True):
self.robot.set_pump(value, self.timout)
cap.set(3, int(1280 * RESCALE_FACTOR))
cap.set(4, int(720 * RESCALE_FACTOR))
# 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.set_position(x=200, y=0, z=31, relative=False, speed=20000, wait=True)
swift.set_pump(True)
for i in range(15):
_, frame = cap.read()
# find air hockey table
hsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
lower_table = np.array([0, 0, 128])
upper_table = np.array([180, 55, 255])
mask_table = cv2.inRange(hsv, lower_table, upper_table)
_, contours, _ = cv2.findContours(mask_table, cv2.RETR_TREE,
cv2.CHAIN_APPROX_SIMPLE)
fieldx = 0
fieldy = 0
fieldw = 0
x = pos[0]
swift.set_position(x=x + x1)
if event.code == 16: #左边，左和右
y1 = 5 if event.value < 0 else -5
pos = swift.get_position()
y = pos[1]
swift.set_position(y=y + y1)
if event.code == 308: #右边，上-三角形
z = 35
swift.set_position(z=z)
if event.code == 304: #右边，下-X
z = 2
swift.set_position(z=z)
if event.code == 307: #右边，左-正方形
swift.set_pump(on=True)
if event.code == 305: #右边，左-圆圈
swift.set_pump(on=False)
if event.code == 315: #Start键，退出
print('break')
break
# while True:
# sleep(1)
except KeyboardInterrupt as e:
print('KeyboardInterrupt', e)
finally:
# print('ret5: ' + test_ports['swift_service']['handle'].call('set cmd_sync G0 X80 Y0 Z60'))
swift.set_pump(on=False)
swift.set_position(x=80, y=0, z=30, speed=1800, wait=True)
def robot_pump(swift: SwiftAPI, pump_state):
swift.set_pump(on=pump_state)
print('R links')
if event.code == 'ABS_RX' and event.state > 10000:
w -= 1
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)
