Python Dongle Exemples

Exemple #1

Fichier : getSerialID.py Projet : davidko/PyBarobo

#!/usr/bin/env python

from barobo import Linkbot, Dongle
import time
import sys

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print ("Usage: {0} [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    serialID = sys.argv[2]
    dongle = Dongle()
    dongle.connect()
    linkbot = dongle.getLinkbot(serialID)

    print (linkbot.getSerialID())

Exemple #2

from barobo import Linkbot, Dongle
import time
import sys
if sys.version_info[0] == 3:
    raw_input = input

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print ("Usage: {0} <Com_Port> [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    if len(sys.argv) == 3:
        serialID = sys.argv[2]
    else:
        serialID = None
    dongle = Dongle()
    dongle.connectDongleTTY(sys.argv[1])
    linkbot = dongle.getLinkbot(serialID)
    print (linkbot)
    print (linkbot.getVersion())
    linkbot.recordAnglesBegin()
    s = raw_input('Press enter to continue...')
    linkbot.recordAnglesEnd()
    linkbot.recordAnglesPlot()
    for i in range(1,4):
        linkbot.setJointSpeed(i, 120)
    linkbot.moveToNB(360, 0, -360)
    linkbot.moveWait()
    linkbot.moveToNB(0, 0, 0)
    linkbot.moveWait()

Exemple #3

#!/usr/bin/env python

from barobo import Linkbot, Dongle
import time
import sys

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print("Usage: {0} [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    serialID = sys.argv[1]
    dongle = Dongle()
    dongle.connect()
    linkbot = dongle.getLinkbot(serialID)

    linkbot.resetToZero()
    print("Moving all joints 90 degrees...")
    linkbot.move(90, 90, 90)

Exemple #4

#!/usr/bin/env python

from barobo import Linkbot, Dongle
import time
import sys

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print("Usage: {0} <Com_Port> [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    if len(sys.argv) == 3:
        serialID = sys.argv[2]
    else:
        serialID = None
    dongle = Dongle()
    dongle.connectBaroboLink()
    linkbot = dongle.getLinkbot(serialID)

    linkbot.resetToZero()
    print("Moving joints to 90 degrees...")
    linkbot.driveTo(90, 90, 90)
    time.sleep(1)
    print("Moving joints to 0 degrees...")
    linkbot.driveTo(0, 0, 0)

Exemple #5

Fichier : driveTo.py Projet : davidko/PyBarobo

#!/usr/bin/env python

from barobo import Linkbot, Dongle
import time
import sys

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print ("Usage: {0} <Com_Port> [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    if len(sys.argv) == 3:
        serialID = sys.argv[2]
    else:
        serialID = None
    dongle = Dongle()
    dongle.connectBaroboLink()
    linkbot = dongle.getLinkbot(serialID)

    linkbot.resetToZero()
    print ("Moving joints to 90 degrees...")
    linkbot.driveTo(90, 90, 90)
    time.sleep(1)
    print ("Moving joints to 0 degrees...")
    linkbot.driveTo(0, 0, 0)

Exemple #6

Fichier : driveTo.py Projet : davidko/PyBarobo

#!/usr/bin/env python

from barobo import Linkbot, Dongle
import time
import sys

if __name__ == "__main__":
  if len(sys.argv) < 2:
    print ("Usage: {0} <Com_Port> [Linkbot Serial ID]".format(sys.argv[0]))
    quit()
  if len(sys.argv) == 2:
    serialID = sys.argv[1]
  dongle = Dongle()
  dongle.connectBaroboBrowser()
  linkbot = dongle.getLinkbot(serialID)

  linkbot.resetToZero()
  print ("Moving joints to 90 degrees...")
  linkbot.driveTo(90, 90, 90)
  time.sleep(1)
  print ("Moving joints to 0 degrees...")
  linkbot.driveTo(0, 0, 0)

Exemple #7

    def goto(self, x, y):
        global_phi = math.atan2(y - self.y, x - self.x)
        d_phi = global_phi - self.theta
        self.turn(rad2deg(d_phi))
        d = math.sqrt((y - self.y)**2 + (x - self.x)**2)
        self.moveDistance(d)


def func(x):
    return 0.5 * x**2


if __name__ == "__main__":
    if len(sys.argv) < 2:
        print("Usage: {0} [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    serialID = sys.argv[1]
    dongle = Dongle()
    dongle.connect()
    linkbot = dongle.getLinkbot(serialID, linkbotClass=ParaLinkbot)
    linkbot.init()

    i = -5
    linkbot.goto(i, func(i))
    linkbot.moveWait()
    print('Start!')
    while i < 5:
        linkbot.goto(i, func(i))
        i += 0.1
        time.sleep(0.1)

Exemple #8

        global_phi = math.atan2(y-self.y, x-self.x)
        d_phi = global_phi - self.theta
        self.turn(rad2deg(d_phi))
        d = math.sqrt( (y-self.y)**2 + (x-self.x)**2)
        self.moveDistance(d)

def func(x):
    return 0.5*x**2

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print ("Usage: {0} <Com_Port> [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    if len(sys.argv) == 3:
        serialID = sys.argv[2]
    else:
        serialID = None
    dongle = Dongle()
    dongle.connectDongleTTY(sys.argv[1])
    linkbot = dongle.getLinkbot(serialID, linkbotClass=ParaLinkbot)
    linkbot.init()
 
    i = -5
    linkbot.goto(i, func(i))
    linkbot.moveWait()
    print('Start!')
    while i < 5:
        linkbot.goto(i, func(i))
        i += 0.1
        time.sleep(0.1)

Exemple #9

Fichier : LinkbotPolynomial.py Projet : davidko/PyBarobo

        self.y += dy

    def goto(self, x, y):
        global_phi = math.atan2(y-self.y, x-self.x)
        d_phi = global_phi - self.theta
        self.turn(rad2deg(d_phi))
        d = math.sqrt( (y-self.y)**2 + (x-self.x)**2)
        self.moveDistance(d)

def func(x):
    return 0.5*x**2

if __name__ == "__main__":
    if len(sys.argv) < 2:
        print ("Usage: {0} [Linkbot Serial ID]".format(sys.argv[0]))
        quit()
    serialID = sys.argv[1]
    dongle = Dongle()
    dongle.connect()
    linkbot = dongle.getLinkbot(serialID, linkbotClass=ParaLinkbot)
    linkbot.init()
 
    i = -5
    linkbot.goto(i, func(i))
    linkbot.moveWait()
    print('Start!')
    while i < 5:
        linkbot.goto(i, func(i))
        i += 0.1
        time.sleep(0.1)