from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
for m in ms.motors:
m.status_return_level = 1
time.sleep(0.1)
ms.compliant = True
time.sleep(0.1)
verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
def go_to(ms, pose, margin=10.0, timeout=5.0):
start = time.time()
ms.pose = pose
while (time.time() - start < timeout and
max(abs(p - tg)
for p, tg in zip(ms.pose, pose) if tg is not None) > 10):
time.sleep(0.1)
ms.moving_speed = [None, 100, None, None, None, None]
ms.torque_limit = [None, 50, None, None, None, None]
ms.compliant = [True, False, True, True, True, True]
time.sleep(0.1)
go_to(ms, [None, 0.0, None, None, None, None], timeout=10.0)
ms.moving_speed = [None, 100, 100, None, None, None]
ms.torque_limit = [None, 50, 50, None, None, None]
ms.compliant = [True, False, False, True, True, True]
time.sleep(0.1)
go_to(ms, [None, 0.0, 0.0, None, None, None], timeout=10.0)
print(ms.pose)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
def go_to(ms, pose, margin=10.0, timeout=5.0):
start = time.time()
ms.pose = pose
while (time.time() - start < timeout and
max(abs(p - tg) for p, tg in zip(ms.pose, pose) if tg is not None) > 10):
time.sleep(0.1)
if max(abs(p-0.0) for p in ms.pose[3:]) > 10.0:
ms.moving_speed = [ None, 100, 100, None, None, None]
ms.torque_limit = [ None, 50, 50, None, None, None]
ms.compliant = [ True, False, False, True, True, True]
time.sleep(0.1)
go_to(ms, [None, 0.0, 0.0, None, None, None])
ms.moving_speed = 100
ms.torque_limit = 50
ms.compliant = False
time.sleep(0.1)
go_to(ms, [0.0]*6)
from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
for m in ms.motors:
m.status_return_level = 1
time.sleep(0.1)
ms.compliant = True
time.sleep(0.1)
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
ms.compliant = False
time.sleep(0.1)
ms.moving_speed = 100
ms.torque_limit = 50
rest_pose = [5.3, 96.3, -97.8, 0.6, -46.5, -10]
ms.pose = rest_pose
while max(abs(p - tg) for p, tg in zip(ms.pose, rest_pose)) > 10:
time.sleep(0.1)
ms.moving_speed = 20
ms.torque_limit = 5
start_time = time.time()