def sendMsg(self, msg) : if self.isConnected : (axis, action) = msg if axis == 0 : if action == 'CALIB' : KNI.calibrate(0) elif action == 'SETHOME' : from KNI import TMovement self.home = TMovement() KNI.getPosition(self.home.pos) self.home.transition = KNI.PTP self.home.velocity = 50 self.home.acceleration = 2 elif action == 'MOVEHOME' : if self.home != None : KNI.executeMovement(self.home) else : if action == 'STOP' : KNI.moveMot(axis, KNI.getEncoder(axis), 50, 2) elif action == 'RIGHT' : if axis in self.minusMotors : KNI.moveMot(axis, 0, 50, 2) else : KNI.moveMot(axis, 31000, 50, 2) elif action == 'LEFT' : if axis in self.minusMotors : KNI.moveMot(axis, -31000, 50, 2) else : KNI.moveMot(axis, 0, 50, 2) else : print "Port is not connected"
KNI.pushMovementToStack(m, stackname) raw_input("Press [ENTER] to store fourth point (p2p movement).") m = TMovement() KNI.getPosition(m.pos) m.transition = KNI.PTP m.velocity = 50 m.acceleration = 2 KNI.pushMovementToStack(m, stackname) raw_input("Press [ENTER] to store fifth and last point (p2p movement).") m = TMovement() KNI.getPosition(m.pos) m.transition = KNI.PTP m.velocity = 50 m.acceleration = 2 KNI.pushMovementToStack(m, stackname) raw_input("Press [ENTER] to fix robot.") KNI.allMotorsOn() raw_input("Press [ENTER] to loop through the point list robot.") repetitions = int(raw_input("How many repetitions? ")) KNI.runThroughMovementStack(stackname, repetitions) KNI.executeMovement(home) KNI.allMotorsOff() #############################################################################################