def move_absolute_point(self, point):
move_offset_x = (0 if self.config["move_offset_x"] is None else
self.config["move_offset_x"])
move_offset_y = (0 if self.config["move_offset_y"] is None else
self.config["move_offset_y"])
move_z = 0 if self.config["move_z"] is None else self.config["move_z"]
point_desc = ("{} of type {}".format(
point["name"], point["pointer_type"]) if "name" in point else "")
log(
"Move absolute to {} ({}, {}) with offset ({}, {}) and move_z {}".
format(point_desc, point["x"], point["y"], move_offset_x,
move_offset_y, move_z),
title="move_absolute_point",
)
if Logger.LOGGER_LEVEL < 2:
device.move_absolute(
location=device.assemble_coordinate(point["x"], point["y"],
move_z),
offset=device.assemble_coordinate(move_offset_x, move_offset_y,
0),
speed=self.config["move_speed"],
)
def moveAbs(x, y, z):
device.log('Moving to ' + str(x) + ', ' + str(y) + ', ' + str(z), 'success', ['toast'])
device.move_absolute(
{
'kind': 'coordinate',
'args': {'x': x, 'y': y, 'z': z}
},
100,
{
'kind': 'coordinate',
'args': {'x': 0, 'y': 0, 'z': 0}
}
)
def moveto_smart(self, target: Union[Coordinate, Tool, Dict[str, int]], speed: int = 100, offset_x: int = 0, offset_y: int = 0, offset_z: int = 0, travel_height: Optional[int] = 0,
proximity_range: int = 20) -> Coordinate:
"""
Perform a smart movement to the given point.
:returns The previous position
"""
position = self.bot_state().location_data.position
if not self.debug:
if isinstance(target, Tool):
target = self.get_toolslots(tool_id=target.id)[0]
if not isinstance(target, Coordinate):
target = position.merge(target)
if (travel_height is not None) and (travel_height > position.z or travel_height > target.z) and (
abs(position.x - target.x) > proximity_range or abs(position.y - target.y) > proximity_range):
# travel height must be respected
if target.z + offset_z > travel_height:
travel_height = target.z + offset_z
device.move_relative(0, 0, travel_height - position.z, speed)
device.move_absolute(target.merge({'z': travel_height}).to_coordinate(), speed, device.assemble_coordinate(offset_x, offset_y, 0))
if abs((target.z + offset_z) - travel_height) <= 2:
return position
device.move_absolute(target.to_coordinate(), speed, device.assemble_coordinate(offset_x, offset_y, offset_z))
return position
alternateInBetweenGrid1 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='alternateInBetweenGrid1', value_type=int) startLastRowOfGrid1 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startLastRowOfGrid1', value_type=int) rowsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='rowsGrid2', value_type=int) colsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='colsGrid2', value_type=int) spaceBetweenRowsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='spaceBetweenRowsGrid2', value_type=float) spaceBetweenColsGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='spaceBetweenColsGrid2', value_type=float) startXGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startXGrid2', value_type=float) startYGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startYGrid2', value_type=float) startZGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='startZGrid2', value_type=float) alternateInBetweenGrid2 = get_config_value(farmware_name='Grid2Grid30Sec', config_name='alternateInBetweenGrid2', value_type=int) device.log(message='Done params', message_type='success') device.move_absolute( device.assemble_coordinate(100, 100, 0), 100, device.assemble_coordinate(0, 0, 0)) # Initialise row (X) and column (Y) indexes for all grids rowGrid1Index = 0 colGrid1Index = 0 rowGrid2Index = 0 colGrid2Index = 0 # Initialise the current Position Found flags to not found currentPositionGrid1Found = False currentPositionGrid2Found = False # Set constant Z positions zPosGrid1 = startZGrid1 zPosGrid2 = startZGrid2
def move_abs(self, speed=None):
if speed:
self.set_speed(speed)
device.move_absolute(self.coordinate_node, self.speed,
self.offset_node)
grid2Coordinates.append(gridPosition2)
# Check the number of items in both lists are the same
device.log(message='grid1Coordinates: ' + str(len(grid1Coordinates)) + ' grid2Coordinates:' + str(len(grid2Coordinates)), message_type='success')
# Now move
for plant in range(numberOfPlants):
if canMove == True :
# Move Grid 1
grid1Item = grid1Coordinates[plant]
device.move_absolute(
{
'kind': 'coordinate',
'args': {'x': grid1Item.xPosition, 'y': grid1Item.yPosition, 'z': grid1Item.zPosition}
},
100,
{
'kind': 'coordinate',
'args': {'x': 0, 'y': 0, 'z': 0}
}
)
if sequenceAfter1stGridMoveId > 0 :
device.log(message='Execute sequence: ' + sequenceAfter1stGridMove, message_type='success')
device.execute(sequenceAfter1stGridMoveId)
time.sleep(waitSeconds)
# Move Grid 2
grid2Item = grid2Coordinates[plant]
device.move_absolute(
{
'kind': 'coordinate',
and (xIndex >= xAxisCount - 1)) : # on the last x position as an alternateInBetween which has 1 less x position
yPosGrid1 = yPosGrid1 + spaceBetweenYGrid1 # Bump up the Y position to the next row
xPosGrid1 = startXGrid1 # Set the X position back to the start of a non alternateInBetween
device.log(message='alternateInBetweenGrid1 last row', message_type='success')
if (startOfXSlopeGrid1 != 0) and (sineOfAngleXGrid1 != 0) :
hypotenuseGrid1 = xPosGrid1 - startOfXSlopeGrid1
addToZHeightGrid1 = sineOfAngleXGrid1 * hypotenuseGrid1
if canMove :
device.move_absolute(
{
'kind': 'coordinate',
'args': {'x': xPosGrid1, 'y': yPosGrid1, 'z': addToZHeightGrid1}
},
100,
{
'kind': 'coordinate',
'args': {'x': 0, 'y': 0, 'z': 0}
}
)
if sequenceAfter1stGridMoveId > 0 :
device.log(message='Execute sequence: ' + sequenceAfter1stGridMove, message_type='success')
device.execute(sequenceAfter1stGridMoveId)
time.sleep(waitSeconds)
# Grid 2
if alternateInBetweenGrid2 == 1 :
if yIndex > 0 and (yIndex % 2) > 0 :
xPosGrid2 = startXGrid2 + (spaceBetweenXGrid2 * 0.5) + (spaceBetweenXGrid2 * xIndex)
else :
A simple Farmware example that tells FarmBot to log a new message including the provided input.
'''
from farmware_tools import get_config_value, device
INPUT_VALUE = get_config_value(
farmware_name='Hello Farmware Test', config_name='input', value_type=str)
device.log(message='Hello Farmware! Test input was: {}'.format(
INPUT_VALUE), message_type='success')
device.log(message="Message 1 Test", message_type="success")
device.log(message="Message 2 Test", message_type="success")
device.log(message="Message 3 Test", message_type="success")
device.log(message="Message 4 Test", message_type="success")
device.log(message="Message 5 Test", message_type="success")
zero = device.assemble_coordinate(0, 0, 0)
one = device.assemble_coordinate(10, 10, 0)
two = device.assemble_coordinate(20, 20, 0)
three = device.assemble_coordinate(30, 30, 0)
four = device.assemble_coordinate(40, 40, 0)
five = device.assemble_coordinate(50, 50, 0)
device.move_absolute(one, 100, zero)
device.move_absolute(two, 100, zero)
device.move_absolute(three, 100, zero)
device.move_absolute(four, 100, zero)
device.move_absolute(five, 100, zero)
z_height = get_config_value('Move To Safe', 'safe_z')
pos_x = device.get_current_position('x')
pos_y = device.get_current_position('y')
pos_z = z_height
device.log('Moving to ' + str(pos_x) + ', ' + str(pos_y) + ', ' + str(pos_z),
'success', ['toast'])
device.move_absolute(
{
'kind': 'coordinate',
'args': {
'x': pos_x,
'y': pos_y,
'z': pos_z
}
}, 100, {
'kind': 'coordinate',
'args': {
'x': 0,
'y': 0,
'z': 0
}
})
device.log('success!!', 'success', ['toast'])
if __name__ == '__main__':
farmware_name = 'move_to_safe'
def move_abs(self, speed=100):
device.move_absolute(self.coordinate_node, speed, self.offset_node)
#!/usr/bin/env python
'''
' Single Axis
'''
import os
from farmware_tools import device
from farmware_tools import app
from farmware_tools import get_config_value
# create Celery coordinate node
coord = device.assemble_coordinate(0, 0, 0)
# apply currrent positions to coordinate node
for axis in coord['args']:
coord['args'][axis] = device.get_current_position(axis)
# get the desired axis to modify and set the coordinate node to the desired value
single_axis = get_config_value('Single Axis', 'axis', str).lower()
coord['args'][single_axis] = int(get_config_value('Single Axis', 'pos'))
#log = 'Axis: {}, Coordinate: {}'.format(single_axis, coord)
log = "Moving '%s' axis to %d" % (single_axis.upper(),
coord['args'][single_axis])
device.log(log, 'info', ['toast'])
# perform the move
device.move_absolute(coord, 100, device.assemble_coordinate(0, 0, 0))
def move_absolute(position,offset,speed):
as_position= device.assemble_coordinate(position[0],position[1],position[2])
as_offset=device.assemble_coordinate(offset[0],offset[1],offset[2])
device.move_absolute(as_position, speed=speed, offset=as_offset)