def move(height, shoulder, joint, wrist, fingers):
myArm = Piktul('COM3', 9600)
myArm.connect()
myArm.setArm([height, shoulder, joint, wrist, fingers], 25)
sleep(3)
#myArm.gotoHome()
myArm.shutDown()
def moveAll():
myArm = Piktul("COM3", 9600)
myArm.connect()
height = changeToNumber(Height.get())
height = InchChecker(height, 1)
height = myArm.inchToDeg(height)[0]
shoulder = changeToNumber(Shoulder.get())
shoulder = angleChecker(shoulder, 90)
joint = changeToNumber(Joint.get())
joint = angleChecker(joint, 90)
wrist = changeToNumber(Wrist.get())
wrist = angleChecker(wrist, 90)
finger = changeToNumber(Fingers.get())
finger = InchChecker(finger, 0)
finger = myArm.inchToDeg(finger)[0]
myArm.setArm([
height * myArm.alphaOrient[0], shoulder * myArm.alphaOrient[1],
joint * myArm.alphaOrient[2], wrist * myArm.alphaOrient[3],
finger * myArm.alphaOrient[4]
], 25)
myArm.shutDown()
def shut_down():
myArm = Piktul('COM3', 9600)
myArm.connect()
myArm.gotoHome()
myArm.disable()
myArm.shutDown()
import scipy as sci
from scipy.interpolate import interp1d
import numpy as np
from controlBox import ControlBox
from robotArm import RobotArm
from piktul import Piktul
A = Piktul('COM3', 9600)
A.connect()
deg = np.array([
-90, -90, -90, -90, -90, -90, 0, 0, 0, 0, 90, 90, 90, 90, 80, -90, -90, 90,
-90, -90, -90, -90, 90, -90, -90
])
deg.shape = (5, 5)
inp = [-90, 0, 54]
A.setMap(inp, [1, 2])