def pos_callback(ret):
print('report pos: {}, time: {}'.format(ret, time.time()))
def key_callback(ret, key=None):
print('report {}: {}, time: {}'.format(key, ret, time.time()))
def limit_switch_callback(ret):
print('report limit switch: {}, time: {}'.format(ret, time.time()))
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, do_not_open=True)
swift.register_power_callback(callback=power_callback)
swift.register_report_position_callback(callback=pos_callback)
swift.register_key0_callback(
callback=functools.partial(key_callback, key='key0'))
swift.register_key1_callback(
callback=functools.partial(key_callback, key='key1'))
swift.register_limit_switch_callback(callback=limit_switch_callback)
swift.connect()
swift.waiting_ready()
swift.set_report_position(interval=0.1)
swift.set_report_keys(on=True)
swift.set_servo_detach()
time.sleep(60)
swift.set_report_position(interval=0)
device_info = swift1.get_device_info()
print(swift1.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift1.set_speed_factor(0.00001)
swift2.waiting_ready()
device_info = swift2.get_device_info()
print(swift2.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift2.set_speed_factor(0.00001)
X = 0
Y = 1
Z = 2
R = 3
swift1.set_servo_detach()
swift1.register_report_position_callback(lambda position: swift2.set_position(
x=position[X], y=position[Y], z=position[Z], speed=100000000, timeout=1))
# swift1.register_report_position_callback(lambda position: swift2.set_position(x=position[X] + random.random() * 5, y=position[Y] + random.random() * 5 , z=position[Z], speed=100000000, timeout=1))
swift1.set_report_position(interval=0.001)
input()
swift1.disconnect()
from uarm.wrapper import SwiftAPI
# from bottle import route, run, get, post, request
import json
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
print(swift.get_device_info())
swift.set_servo_detach()
swift.register_report_position_callback(lambda position: print(position))
swift.set_report_position(interval = 0.01)
input()
swift.disconnect()
