def __init__(self):
Linkbot.__init__(self)
self.x = 0
self.y = 0
self.theta = 0
self.wheelbase = 3.75 #inches
self.wheeldiameter = 3.5 #inches
def __init__(self):
Linkbot.__init__(self)
self.x = 0
self.y = 0
self.theta = 0
self.wheelbase = 3.75 #inches
self.wheeldiameter = 3.5 #inches
#!/usr/bin/env python
from barobo import Linkbot, BaroboCtx
import barobo
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connectBluetooth('00:06:66:4D:F6:6F')
linkbot.setAcceleration(240)
linkbot.recordAnglesBegin()
for _ in range(3):
linkbot.setJointStates([
barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD, barobo.ROBOT_BACKWARD
], [120, 120, 120])
time.sleep(2)
linkbot.setJointStates([
barobo.ROBOT_BACKWARD, barobo.ROBOT_BACKWARD, barobo.ROBOT_FORWARD
], [120, 120, 120])
time.sleep(2)
linkbot.stop()
linkbot.recordAnglesEnd()
linkbot.recordAnglesPlot()
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print(linkbot.getJointAngles())
#!/usr/bin/env python
# File: move.py
# Move both joints of a Linkbot-I 90 degrees.
from barobo import Linkbot
linkbot = Linkbot()
linkbot.connect()
print ("Moving both joints 90 degrees...")
linkbot.move(90, 0, 90)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print (linkbot.getVersion())
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot2 = Linkbot()
linkbot.connect()
linkbot2.connect()
linkbot.resetToZero()
linkbot2.resetToZero()
print ("Moving joints to 90 degrees...")
linkbot.driveToNB(90, 90, 90)
linkbot2.driveToNB(90, 90, 90)
time.sleep(1)
print ("Moving joints to 0 degrees...")
linkbot.driveToNB(0, 0, 0)
linkbot2.driveToNB(0, 0, 0)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
linkbot.recordAnglesBegin(delay=0.1)
linkbot.smoothMoveTo(1, 100, 100, 120, 360)
linkbot.smoothMoveTo(2, 100, 100, 120, 360)
linkbot.smoothMoveTo(3, 100, 100, 120, 360)
linkbot.moveWait()
linkbot.recordAnglesEnd()
linkbot.recordAnglesPlot()
#!/usr/bin/env python
from barobo import Linkbot, BaroboCtx
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connectBluetooth('00:06:66:4D:F6:6F')
linkbot.resetToZero()
linkbot.recordAnglesBegin(delay=0.1)
linkbot.smoothMoveTo(1, 100, 100, 100, 360)
linkbot.smoothMoveTo(2, 100, 100, 100, 360)
linkbot.smoothMoveTo(3, 100, 100, 100, 360)
linkbot.moveWait()
linkbot.recordAnglesEnd()
linkbot.recordAnglesPlot()
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print (linkbot.getColorRGB())
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
for _ in range(5):
print (linkbot.getBatteryVoltage())
time.sleep(0.5)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
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)
while True:
linkbot.moveToNB(360, 0, -360)
linkbot.moveWait()
linkbot.moveToNB(0, 0, 0)
linkbot.moveWait()
#!/usr/bin/env python
from barobo import Linkbot
import time
import sys
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
linkbot.stop()
linkbot.setMotorPowers(-255, -255, -255)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.reboot()
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print(linkbot.getSerialID())
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print("Moving joint 1 90 degrees...")
linkbot.moveJoint(1, 90)
time.sleep(1)
print("Moving joint 2...")
linkbot.moveJoint(2, 90)
time.sleep(1)
print("Moving joint 3...")
linkbot.moveJoint(3, 90)
time.sleep(1)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print(linkbot.getFormFactor())
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
for _ in range(20):
print (linkbot.getAccelerometerData())
time.sleep(0.5)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
for i in range(1, 4):
print("Joint {} angle: {}".format(i, linkbot.getJointAngle(i)))
#!/usr/bin/env python
# Note: This demo will only work if you have a Barobo breakout-board currently
# attached to the linkbot.
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
adcs = map(linkbot.getBreakoutADC, range(0,8))
print(map(lambda x: x/1024.0*5.0, adcs))
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print ("Moving joint 1 90 degrees...")
linkbot.moveJoint(1, 90)
time.sleep(1)
print ("Moving joint 2...")
linkbot.moveJoint(2, 90)
time.sleep(1)
print ("Moving joint 3...")
linkbot.moveJoint(3, 90)
time.sleep(1)
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
#linkbot.setAcceleration(120)
linkbot.resetToZero()
linkbot.moveTo(180, 180, 180)
linkbot.moveTo(0, 0, 0)
linkbot.disconnect()
time.sleep(1)
linkbot.connect()
#linkbot.setAcceleration(120)
linkbot.resetToZero()
linkbot.moveTo(180, 180, 180)
linkbot.moveTo(0, 0, 0)
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connectBaroboLink()
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)
#!/usr/bin/env python
from barobo import Linkbot, BaroboCtx
import sys
if sys.version_info[0] == 3:
raw_input = input
def jointcb(millis, j1, j2, j3):
print('joint: {} {} {} {}'.format(millis, j1, j2, j3))
def accelcb(millis, j1, j2, j3):
print('accel: {} {} {} {}'.format(millis, j1, j2, j3))
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
instr = 'c'
jointThresh = 1
accelThresh = 0.1
jointCBEnabled = False
accelCBEnabled = False
while instr != 'q':
instr = raw_input(
'Commands:\n'
'1 : Enable/Disable joint callback\n'
'2 : Enable/Disable accel callback\n'
'3 : Increase joint threshold\n'
'4 : Decrease joint threshold\n'
'5 : Increase accel threshold\n'
#!/usr/bin/env python
from barobo import Linkbot
def callback(mask, buttons, userdata):
print ("Button press! mask: {} buttons: {}".format(hex(mask), hex(buttons)))
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.enableButtonCallback(callback)
raw_input('Button callbacks have been enabled. Press buttons on the Linkbot. Hit Enter when done')
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print ("Moving joint 1 90 degrees...")
linkbot.driveJointTo(1, 0)
time.sleep(1)
linkbot.driveJointTo(1, 90)
time.sleep(1)
linkbot.driveJointTo(1, 0)
time.sleep(1)
print ("Moving joint 2...")
linkbot.driveJointTo(2, 90)
time.sleep(1)
linkbot.driveJointTo(2, 0)
time.sleep(1)
print ("Moving joint 3...")
linkbot.driveJointTo(3, 90)
time.sleep(1)
linkbot.driveJointTo(3, 0)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print ("Moving all joints 90 degrees...")
linkbot.move(90, 90, 90)
#!/usr/bin/env python
import barobo
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print("Moving joints forwards...")
linkbot.setJointSpeeds(120, 120, 120)
linkbot.moveContinuous(barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD,
barobo.ROBOT_FORWARD)
raw_input("Press enter to stop.")
linkbot.stop()
#!/usr/bin/env python
from barobo import Linkbot, BaroboCtx
import barobo
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connectBluetooth('00:06:66:4D:F6:6F')
linkbot.setAcceleration(240)
linkbot.recordAnglesBegin()
for _ in range(3):
linkbot.setJointStates(
[barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD, barobo.ROBOT_BACKWARD],
[120, 120, 120])
time.sleep(2)
linkbot.setJointStates(
[barobo.ROBOT_BACKWARD, barobo.ROBOT_BACKWARD, barobo.ROBOT_FORWARD],
[120, 120, 120])
time.sleep(2)
linkbot.stop()
linkbot.recordAnglesEnd()
linkbot.recordAnglesPlot()
#!/usr/bin/env python
# File: move.py
# Move both joints of a Linkbot-I 90 degrees.
from barobo import Linkbot
linkbot = Linkbot()
linkbot.connect()
print("Moving both joints 90 degrees...")
linkbot.move(90, 0, 90)
#!/usr/bin/env python
import barobo
from barobo import Linkbot, BaroboCtx
import time
import sys
if __name__ == "__main__":
if len(sys.argv) != 2:
print('Usage: {0} <Bluetooth MAC Address>'.format(sys.argv[0]))
sys.exit(0)
linkbot = Linkbot()
linkbot.connectMobotBluetooth(sys.argv[1])
linkbot.resetToZero()
print ("Moving joints forwards...")
linkbot.setJointSpeeds(-120, 120, 120)
linkbot.moveContinuous(barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD)
raw_input("Press enter to stop.")
linkbot.moveContinuous(barobo.ROBOT_BACKWARD, barobo.ROBOT_BACKWARD, barobo.ROBOT_BACKWARD)
raw_input("Press enter to stop.")
linkbot.resetToZero()
linkbot.stop()
#!/usr/bin/env python
from barobo import Linkbot
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print("Moving joint 1 90 degrees...")
linkbot.driveJointTo(1, 0)
time.sleep(1)
linkbot.driveJointTo(1, 90)
time.sleep(1)
linkbot.driveJointTo(1, 0)
time.sleep(1)
print("Moving joint 2...")
linkbot.driveJointTo(2, 90)
time.sleep(1)
linkbot.driveJointTo(2, 0)
time.sleep(1)
print("Moving joint 3...")
linkbot.driveJointTo(3, 90)
time.sleep(1)
linkbot.driveJointTo(3, 0)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
for i in range(1,4):
print ("Joint {} angle: {}".format(i, linkbot.getJointAngle(i)))
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print(linkbot.getVersion())
#!/usr/bin/env python
import barobo
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print ("Moving joints forwards...")
linkbot.setJointSpeeds(120, 120, 120)
linkbot.moveContinuous(barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD, barobo.ROBOT_FORWARD)
raw_input("Press enter to stop.")
linkbot.stop()
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
print (linkbot.getJointAngles())
#!/usr/bin/env python
from barobo import Linkbot, Dongle
import time
if __name__ == "__main__":
linkbot = Linkbot()
linkbot2 = Linkbot()
linkbot.connect()
linkbot2.connect()
linkbot.resetToZero()
linkbot2.resetToZero()
print("Moving joints to 90 degrees...")
linkbot.driveToNB(90, 90, 90)
linkbot2.driveToNB(90, 90, 90)
time.sleep(1)
print("Moving joints to 0 degrees...")
linkbot.driveToNB(0, 0, 0)
linkbot2.driveToNB(0, 0, 0)
#!/usr/bin/env python
from barobo import Linkbot
if __name__ == "__main__":
linkbot = Linkbot()
linkbot.connect()
linkbot.resetToZero()
print("Moving all joints 90 degrees...")
linkbot.move(90, 90, 90)