def drop_pipette(swift: SwiftAPI, position: dict):
# Hovering above trash
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
# back to normal location (relevant in case of using variables)
dict_args['change_z_by'] = 0
swift.set_position(**dict_args)
current_position = swift.get_position()
robot_move(swift=swift,
position={
'x': current_position[0],
'y': current_position[1],
'z': position['z'],
'e': None,
'speed': None
})
dict_args = position
dict_args['wait'] = True
swift.set_position(**dict_args)
swift.set_wrist(270)
sleep(1)
swift.set_wrist(90)
# Hovering above trash
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args[
'change_z_by'] = 0 # back to normal location(relevant in case of using variables)
protection_sip = 1.5
starting_x = 164.36
starting_y = -19
printing_z = 28.5
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print("Allowing extrusion")
swift.send_cmd_sync("M302 S0")
print('get_position:', swift.get_position())
swift.set_wrist(90)
swift.set_position(120, 0, 50, speed=15000, wait=True) # Home
swift.set_position(131, -5, 90, speed=15000, wait=True)
#swift.set_position(139.88, -112.31, 60.24, speed=30000, timeout=30, wait=True) # Center in first pippet
#swift.set_position(z=-43.25, speed=30000, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-60, speed=300, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-65, speed=300, timeout=30, wait=True) # Acquire pippet
#swift.set_position(z=-69, speed=300, timeout=30, wait=True) # Acquire pippet
#sleep(0.1)
#swift.set_position(z=60.24, speed=30000, timeout=30, wait=True)
swift.set_position(x=221, y=-114.5, z=80, speed=30000, timeout=30,
wait=True) # Center to water
swift.set_position(z=62, speed=30000, timeout=30, wait=True) # Get close
swift.set_position(z=57, speed=700, timeout=30, wait=True) # Smooth in
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-67), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-67.5), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': 10, 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 160.32, 'y': 40, 'z': 10, 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': 0, 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-60), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
swift.set_wrist(90)
sleep(1)
swift.set_wrist(0)
sleep(1)
swift.set_wrist(90)
sleep(1)
dict_args = ({'x': 140.32, 'y': (-109), 'z': 0, 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
swift.set_position(e=0, speed=1500, timeout=30, wait=True)
swift.set_position(120, 0, 50, speed=1500, timeout=30, wait=True)
offset_x = 0
offset_y = 193
total = len(coords)
i = 0
for i in range(50):
print("e={}".format(i / 2))
swift.set_position(10,
193,
50,
extrude=i / 2,
wait=True,
speed=500,
timeout=30)
sleep(1)
swift.set_wrist()
# for coord in coords:
# xcord = str(int(coord['x']) + offset_x)
# ycord = str(int(coord['y']) + offset_y)
# print(xcord, ycord)
# swift.set_position(x=xcord, y=ycord, speed=1500, wait=True)
# print('get_position:', swift.get_position())
# swift.set_position(z=40, wait=True, speed=500)
# print('get_position:', swift.get_position())
# swift.set_position(z=45, wait=True, speed=500)
# print("{i}/{total}".format(i=i, total=total))
# i+=1
#
#
def print_pattern(swift: SwiftAPI, pattern_format: str, pipette_position: dict,
starting_position: dict, liquid_position: dict,
disposal_position: dict):
# Reading the coords file into a list
print(f'retrieveing coords from {pattern_format}')
coords = []
with open(os.path.join('uploads\coords', pattern_format), 'r') as f:
for line in f:
x, y = line.strip().split("\,")
coords.append((float(x), float(y)))
# Initializing required variables
current_liquid = 0
release_step = -0.070
total_liquid = release_step * (len(coords) + 100) * 1.75
step_proportional = 2
protection_sip = -1.5
# Resetting arm position to home
swift.set_wrist(90)
swift.set_position(120, 0, 50, speed=15000, wait=True)
# Initializing required positions
pip_args = pipette_position
pip_args['wait'] = True
start_args = starting_position
start_args['wait'] = True
starting_x = start_args['x']
starting_y = start_args['y']
printing_z = start_args['z']
liquid_args = liquid_position
liquid_args['wait'] = True
disposal_args = disposal_position
disposal_args['wait'] = True
# Moving to pipette pick up location, while preserving arm's height
temp_z = pip_args['z']
pip_args['z'] = 60
swift.set_position(**pip_args)
pip_args['z'] = temp_z
swift.set_position(**pip_args)
sleep(1)
swift.set_position(z=105, speed=1500, timeout=30, wait=True)
# Moving to liquid location, while preserving arm's height
temp_z = liquid_args['z']
liquid_args['z'] = 105
swift.set_position(**liquid_args)
liquid_args['z'] = temp_z
swift.set_position(**liquid_args)
# Extrude the liquid according to the amount of coords
swift.set_position(e=total_liquid, speed=1500, timeout=30, wait=True)
current_liquid = total_liquid
swift.set_position(z=90, speed=30000, timeout=30, wait=True)
# Moves to printing starting point
swift.set_position(x=(step_proportional * coords[0][0]) + starting_x,
y=(step_proportional * coords[0][1]) + starting_y,
z=60,
speed=30000,
timeout=30,
wait=True)
# Printing image's coords
picture = coords
total_len = len(picture)
current_step = 0
for x, y in picture:
current_step += 1
print("{c_step}/{total}".format(c_step=current_step, total=total_len))
current_liquid -= release_step
print(x, y)
swift.set_position(x=starting_x + (step_proportional * x),
y=starting_y + (step_proportional * y),
wait=True,
speed=1500)
sleep(0.3)
swift.set_position(z=printing_z, wait=True)
swift.set_position(e=current_liquid, wait=True, speed=500)
swift.set_position(z=printing_z + 5, wait=True)
# Printing last step
current_liquid += release_step
swift.set_position(z=printing_z, wait=True)
swift.set_position(e=current_liquid, wait=True, speed=300)
swift.set_position(z=printing_z + 3, wait=True)
# Releasing the rest of the liquid
# Dropping off the pipette at disposal area
swift.set_position(e=current_liquid, z=155, speed=30000, wait=True)
temp_z = disposal_args['z']
disposal_args['z'] = 155
swift.set_position(x=269,
y=-90,
z=155,
e=current_liquid,
speed=30000,
wait=True)
swift.set_position(z=155, speed=30000, timeout=20, wait=True)
swift.set_position(e=0, speed=30000, timeout=20, wait=True)
swift.set_wrist(0)
swift.set_wrist(90)
swift.set_position(z=150, speed=30000, wait=True)
def robot_wrist(swift: SwiftAPI, angle: float):
swift.set_wrist(angle=angle)
sleep(1)
print('device info: ')
print(swift.get_device_info())
sleep(2)
# swift.reset()
swift.set_position(x=300, wait=True)
sleep(3)
print(swift.get_position())
sleep(3)
swift.set_position(y=0, wait=True)
sleep(3)
# swift.set_position(x=200,y=0, z=45, wait=True)
swift.set_position(z=85, wait=True)
sleep(2)
for x in range(0, 180, 30):
swift.set_wrist(angle=x, wait=True)
sleep(0.2)
swift.set_wrist(angle=90, wait=True)
swift.set_buzzer()
sleep(2)
swift.set_position(x=300, y=0, z=110, wait=True)
#
swift.set_position(x=330, y=0, z=85, wait=True)
sleep(2)
for x in range(0, 180, 30):
swift.set_wrist(angle=x, wait=True)
sleep(0.2)
swift.set_wrist(angle=90, wait=True)
swift.set_buzzer()
sleep(2)
print('\nset X350 Y0 Z50 F500 ...')
swift.set_position(230, 0, 70, speed=1500, wait=True)
# 下降到桌面
swift.set_position(230, 0, z=1, speed=1500, wait=True)
# 气泵
swift.set_pump(on=True)
#升起
# swift.set_position(230, 0, 70, speed=1500,wait=True)
swift.set_position(230, 0, 2, speed=1500, wait=True) #原地旋转
#旋转90度
print('角度：', swift.get_servo_angle()) #[90.09, 74.76, 39.27, 93.0]
print('旋转90度')
ret = swift.set_wrist(angle=90 - 90, wait=True) #默认是90度
print('角度：', swift.get_servo_angle(), ret) #[90.09, 74.94, 39.01, 104.0]
sleep(1)
ret = swift.set_wrist(angle=90 - 60, wait=True) #
print('角度：', swift.get_servo_angle(), ret) #[90.09, 75.03, 38.92, 15.0]
sleep(1)
ret = swift.set_wrist(angle=90 - 30, wait=True) #
print('角度：', swift.get_servo_angle(), ret) #[90.09, 75.03, 38.92, 52.0]
sleep(1)
ret = swift.set_wrist(angle=90 + 0, wait=True) #
print('角度：', swift.get_servo_angle(), ret) #[90.09, 75.03, 38.92, 65.0]
sleep(1)
ret = swift.set_wrist(angle=90 + 30, wait=True) #
print('角度：', swift.get_servo_angle(), ret) #[90.09, 75.03, 38.92, 94.0]
sleep(1)
ret = swift.set_wrist(angle=90 + 60, wait=True) #
# -*- coding: utf-8 -*-
# https://github.com/zeth/inputs
import inputs
import os
import sys
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
w = 90
swift = SwiftAPI() # {'hwid': 'USB VID:PID=2341:0042'}
sleep(2)
swift.set_position(150, 0, 150, speed=20000, timeout=20)
swift.set_wrist(90, wait=True) # lang
swift.flush_cmd()
sleep(1)
# print(inputs.devices.gamepads)
while True:
events = inputs.get_gamepad()
for event in events:
if event.code == 'ABS_X' and event.state < -20000:
swift.set_position(y=-1, speed=20000, relative=True, wait=True)
print('links')
if event.code == 'ABS_X' and event.state > 10000:
swift.set_position(y=+1, speed=20000, relative=True, wait=True)
