def random_walk_draw(_robot_base,pen_height,_no_pts,vel,accel):
way_pts = []
for i in range(_no_pts):
y_r = r.randint(50,247)
x_r = r.randint(50,370)
r_pt = rg.Point3d(50+5*i,y_r,pen_height)
way_pts.append(r_pt)
#way_pts.append(way_pts[-1]+rg.Point3d(0,0,150))
#way_pts.insert(0,way_pts[0]+rg.Point3d(0,0,150))
for i,pt in enumerate(way_pts):
if i>0:
rs.AddLine(way_pts[i-1],pt)
way_planes = [rg.Plane(pt,rg.Vector3d.ZAxis) for pt in way_pts]
way_planes = [rhino_to_robot_space(plane,_robot_base) for plane in way_planes]
velocity = vel
acceleration = accel
robot_ip = ROBOT_IP
script = ""
script += ur.set_tcp_by_angles(0.0,0.0,pen_height,m.radians(0.0),m.radians(180.0),m.radians(0))
for plane in way_planes:
script += ur. move_l(plane,acceleration,velocity)
script = c.concatenate_script(script)
c.send_script(script,robot_ip)
print script
def send(self):
"""
this funktion sends the script to the robot."""
self.script = c.concatenate_script(self.script)
#c.send_script(self.script, self.robot_ip)
return self.script
def move_robot_vertical(move_to):
script = ""
script += ur.set_tcp_by_angles(0.0,0.0,0.0,m.radians(0.0),m.radians(180.0),m.radians(0))
velocity = 0.05
acceleration = 0.02
robot_ip = ROBOT_IP
plane = rg.Plane(move_to,rg.Vector3d.ZAxis)
script += ur.move_l(plane,acceleration,velocity)
script = c.concatenate_script(script)
c.send_script(script,robot_ip)
print script
def nice_walk(_robot_base, pen_height, _no_pts, vel, accel):
way_pts = []
step_x = 150 / _no_pts
step_y = 237 / _no_pts
for i in range(_no_pts):
if i % 2 == 0:
x_r = 30 + step_x * i
y_r = 30 + step_y * i
r_pt = rg.Point3d(x_r, y_r, pen_height)
way_pts.append(r_pt)
else:
x_r = 30 + step_x * i
y_r = 150 + 60 * m.sin(i) * -1
r_pt = rg.Point3d(x_r, y_r, pen_height)
way_pts.append(r_pt)
#way_pts.append(way_pts[-1]+rg.Point3d(0,0,150))
#way_pts.insert(0,way_pts[0]+rg.Point3d(0,0,150))
for i, pt in enumerate(way_pts):
if i > 0:
rs.AddLine(way_pts[i - 1], pt)
way_planes = [rg.Plane(pt, rg.Vector3d.ZAxis) for pt in way_pts]
way_planes = [
rhino_to_robot_space(plane, _robot_base) for plane in way_planes
]
velocity = vel
acceleration = accel
robot_ip = ROBOT_IP
script = ""
script += ur.set_tcp_by_angles(0.0, 0.0, pen_height, m.radians(0.0),
m.radians(180.0), m.radians(0))
for plane in way_planes:
script += ur.move_l(plane, acceleration, velocity)
script = c.concatenate_script(script)
c.send_script(script, robot_ip)
print script
#rd.set_robot_base_plane()
robot_base = rd.load_robot_base_plane()
zero_plane = rg.Plane(rg.Point3d(0,0,0),rg.Vector3d.ZAxis)
plane_1 = rg.Plane(rg.Point3d(297.0,0,100),rg.Vector3d.ZAxis)
plane_2 = rg.Plane(rg.Point3d(297,297,0),rg.Vector3d.ZAxis)
plane_3 = rg.Plane(rg.Point3d(0,297,0),rg.Vector3d.ZAxis)
way_planes = [zero_plane,plane_1,plane_2,plane_3]
robo_planes = []
for way_plane in way_planes:
robo_plane = rd.rhino_to_robot_space(way_plane,robot_base)
robo_planes.append(robo_plane)
robo_planes *= 10
accel = 0.1
vel = 0.2
script = ''
for robo_plane in robo_planes:
script += ur.move_l(robo_plane, accel, vel)
if execute:
script = c.concatenate_script(script)
c.send_script(script, rd.ROBOT_IP)
else:
print script
