def setup_uarm():
global paper_height
bot = uarm_scan_and_connect()
if input('Type any letter then ENTER to home: '):
bot.home()
reset_uarm(bot)
return bot
from uarm import uarm_scan_and_connect robot = uarm_scan_and_connect() # reset the uarm, and move it to it's centered position robot.home() # NOTE: learn more about the uArm's coordinate system in their manual # `uArm-Python-SDK -> doc -> manuals -> Quick Starter Guide` # move to absolute coordinates robot.move_to(x=150) robot.move_to(y=100, z=120) robot.move_to(y=-100, z=50) # move to relative coordinates robot.move_relative(x=20) robot.move_relative(y=100) robot.move_relative(z=20) # Telling the robot to move will send a command over the USB serial port # however, it might still be moving when the Python command returns. # If you need to know when it is finished moving, using `wait_for_arrival()` # A minor issue with this is that movement will be slightly less smooth, # because you are waiting for the device to stop while sending it more data robot.move_to(x=150, y=100) robot.wait_for_arrival() # returns when the robot has stopped moving
for blob_pos in blob_poses:
hover_pos = blob_pos.copy()
hover_pos['z'] += 5
robot.move_to(**hover_pos).move_to(**blob_pos).move_to(**hover_pos)
robot.sleep()
if __name__ == '__main__':
settings_dir = None
if len(sys.argv) > 1 and os.path.isdir(os.path.abspath(sys.argv[1])):
settings_dir = os.path.abspath(sys.argv[1])
print('Saving OpenMV calibration to -> {0}'.format(settings_dir))
exit()
robot = uarm_scan_and_connect(settings_dir=settings_dir)
atexit.register(robot.sleep)
camera = openmv.OpenMV(robot)
camera.calibration_default()
camera._general_offset = get_openmv_offset('general') # default offset
robot.hardware_settings_default().tool_mode('general').home()
robot.disable_all_motors()
input('Place nozzle on center of calibration dots, and press ENTER')
robot.enable_all_motors()
robot.update_position()
start_pos = robot.position
# hover the camera over the starting point
camera.move_relative(z=15)
