Exemple #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)

ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
Exemple #2
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)
Exemple #3
0
              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)
Exemple #4
0
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)
Exemple #5
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)

ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
Exemple #6
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)
Exemple #7
0
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()