class uArmSwift: def __init__(self): self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, cmd_pend_size=2, callback_thread_pool_size=1) if not self.swift.connected: print('lose connect') self.swift.waiting_ready() device_info = self.swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): self.swift.set_speed_factor(0.00005) self.swift.set_mode(0) self.speed = 500000 self.swift.set_wrist(angle=90) self.wristAngle = self.swift.get_servo_angle(0, timeout=10) def set_position(self, x=100, y=0, z=100, wait=False): self.swift.set_position(x, y, z, speed=self.speed, wait=wait) def set_polar(self, stretch, rotation, height, wait=False): self.swift.set_polar(stretch, rotation, height, speed=self.speed, wait=wait) def set_servo_angle(self, num, angle, wait=False): if num < 0 and num > 3: print("num is wrong") self.swift.set_servo_angle(num, angle, wait, speed=self.speed, wait=wait) def set_wrist(self, angle=90, wait=False): # 第四电机 self.swift.set_wrist(angle, wait) def set_pump(self, on=False): self.swift.set_pump(on) def set_buzzer(self, freq=1000, duration=1, wait=False): self.swift.set_buzzer(freq, duration, wait) def get_position(self): return self.swift.get_position() def get_servo_angle(self, id=0): return self.swift.get_servo_angle(id, timeout=10) def is_moving(self): return self.swift.get_is_moving() def disconnect(self): self.swift.disconnect()
class UArm_SDK(object): def __init__(self): ''' connect to UArm ''' self.swift = SwiftAPI() self.swift.connect() self.swift.get_power_status() print(self.swift.get_device_info()) self.swift.reset(wait=True) # back to home position print('init complete') self.gripper_temp = 0 # keep track of gripper state def __del__(self): ''' disconnect UArm ''' self.swift.disconnect() print('uarm disconnected') def set_servo_angle(self, joint_angles, dt): ''' set servo angle via SDK input: joint_angles, 5-vector: [theta1, theta2, theta3, theta4, pump state] in degrees dt, time step ''' wait = True self.swift.set_servo_angle(servo_id=0, angle=joint_angles[0] + 90, speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=1, angle=joint_angles[1], speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=2, angle=joint_angles[2] - joint_angles[1], speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=3, angle=180 - joint_angles[3], speed=5000, wait=wait) time.sleep(dt / 4) if joint_angles[4] > 0: self.swift.set_pump(on=True) elif joint_angles[4] == 0: self.swift.set_pump(on=False) else: print("ERROR") def control_uarm_via_traj(self, position, wrist_angle, pump_state, dt): ''' set end effector position, wrist angle and pump state via SDK input: position, 3-vector: [px, py, pz] wrist_angle: wrist angle in rad pump_state: bool, 0 - off, 1 - on ''' px, py, pz = position[0], position[1], position[2] # conver m to mm px *= 1000 py *= 1000 pz *= 1000 # change end effector position e = self.swift.set_position(x=px, y=py, z=pz, speed=100000, wait=True) print(e) # change wrist angle self.swift.set_wrist(90 - wrist_angle * 180 / PI) if self.gripper_temp == 0 and pump_state == 1: # enable suction cup self.swift.set_pump(on=True, wait=True) print('pump on') self.gripper_temp = 1 if self.gripper_temp == 1 and pump_state == 0: # disable suction cup self.swift.set_pump(on=False, wait=True) print('pump off') self.gripper_temp = 0 time.sleep(dt)
class uArm(): def __init__(self): self.scope = 10 self.x0 = 160 self.y0 = 0 self.swift = SwiftAPI(filters={'hwid':'USB VID:PID=2341:0042'}) self.swift.waiting_ready(timeout=3) # self.swift.set_speed_factor(0.005) # if you change this, be prepared for different movements! self.swift.set_mode(mode=0) time.sleep(0.5) self.swift.set_servo_angle(angle=90) self.swift.set_wrist(angle=90) self.swift.set_position(x=200,y=0,z=20) # start it off with a salute self.swift.set_buzzer(frequency=1000, duration=1) # signal ready self.lstValidCharSet = ['?','A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z',\ '-','0','1','2','3','4','5','6','7','8','9'] self.lstLetter = [self.QuestionMark, self.LetterA, self.LetterB, self.LetterC, self.LetterD, self.LetterE, self.LetterF,\ self.LetterG, self.LetterH, self.LetterI, self.LetterJ, self.LetterK, self.LetterL, self.LetterM, self.LetterN,\ self.LetterO, self.LetterP, self.LetterQ, self.LetterR, self.LetterS, self.LetterT, self.LetterU, self.LetterV,\ self.LetterW, self.LetterX, self.LetterY, self.LetterZ, self.Hyphen, self.Number0, self.Number1, self.Number2,\ self.Number3, self.Number4, self.Number5, self.Number6, self.Number7, self.Number8, self.Number9] def __del__(self): input("PLEASE SUPPORT uARM ARM!!, then strike ENTER to continue ...") self.swift.set_buzzer(frequency=600, duration=2) self.swift.set_position(x=200,y=0,z=20) self.swift.flush_cmd() self.swift.disconnect() del self.swift self.swift = None def arm(self): """ Using this method to allow raw access to the uArm if required """ return self.swift def insert_pen(self): self.swift.set_buzzer(frequency=1000, duration=0.5) # signal ready self.swift.set_servo_angle(angle=90) time.sleep(0.5) self.swift.set_wrist(angle=90) time.sleep(0.5) self.swift.set_position(x=200,y=0,z=0) while (self.swift.get_is_moving()): continue input("Set pen in universal holder, then strike ENTER to continue ...") self.swift.set_position(x=200,y=0,z=10) return def pen_up(self): while (self.swift.get_is_moving()): continue x, y, z = self.swift.get_position() self.swift.set_position(x, y, 10) time.sleep(0.5) return 10 def pen_down(self): while (self.swift.get_is_moving()): continue x, y, z = self.swift.get_position() self.swift.set_position(x, y, 0) time.sleep(0.5) return 0 def setScope(self, strName): """ based upon the length of strName, determine the scope (char width) and starting X, Y positions assuming that the center of the page is 160,0 x extent is 110 - 210, y extent 80 - (-80) (x axis is PARALLEL to the arm, short edge of the paper) """ if type(strName) == str: strName = strName[:26] # going to truncate user input to a 26 characters max intLenName = len(strName) if (intLenName < 4): self.scope = 40.0 # keeping it real else: self.scope = math.floor(160.0/(intLenName * 1.1)) self.x0 = 160 - (0.5 * self.scope) self.y0 = self.scope * intLenName * 1.1 / 2 return def LetterSelect(self, c): """ given char c, return the plotting function index 0 resolves to the question mark character """ index = 0 if type(c) == str: if c == ' ': return self.SpaceBar else: c = c.upper() if c in self.lstValidCharSet: index = self.lstValidCharSet.index(c) - self.lstValidCharSet.index('A') + 1 # 0th item is '?' # if c in ['A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z']: # index = ord(c) - ord('A') + 1 # using question mark as the 0th index item return self.lstLetter[index] # return the function to use
class uart: available_pixel = {} #rgb values of all the paints swift = None #robot arm object device_info = None firmware_version = None image = None #image you're trying to paint canvas = None #image of the canvas as you're working on it canvas_corners = None #points of the four corners of the canvas (in robot arm coords) ptransform = None #contains the warped image of M = None #transformation matrix xScale = None yScale = None # # __init__ # im = the image you're trying to paint # pixels = the dictionary of colors you have access to # initialized = a list of booleans determining which values you will initialize # [ True = available_pixel uses pixels parameter otherwise use defaults, # True = set swift to SwiftAPI object otherwise set them to None, # True = set image to a blank white 200x200 image, # True = calibrate canvas_corners using setFourCorners otherwise set to a preset # True = set ptransform using the webcam # ] # def __init__(self, im, pixels, initialized): if initialized[0]: self.available_pixel = pixels else: self.available_pixel = {'red':[255,0,0], 'green':[0,255,0], 'blue':[0,0,255],'magenta':[255,0,255], 'tomato':[255,99,71], 'lawn green':[124,252,0]} if initialized[1]: self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) self.device_info = self.swift.get_device_info() self.firmware_version = self.device_info['firmware_version'] self.swift.set_mode(0) if initialized[2]: self.image = im if initialized[3] and initialized[1]: print("moving") self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0") # self.swift.set_wrist(20) # time.sleep(1) # self.swift.set_wrist(90) print("Setting four corners; input tl, tr, bl or br") self.canvas_corners = self.setFourCorners() else: self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0") self.canvas_corners = [ [263,50,103], #tl [263,-50,103],#tr [241,50,-12],#bl [241,-50,-12]]#br print("Setting four corners to default coordinates") if initialized[4]: _, cap = cv2.VideoCapture(0).read() self.ptransform = perspective.PerspectiveTransform(cap) self.M = self.get_m(200,200) self.xScale = self.get_scale(len(im[0]),[self.canvas_corners[0],self.canvas_corners[1]]) self.yScale = self.get_scale(len(im),[self.canvas_corners[0],self.canvas_corners[2]]) print("Arm all set up!") # # new xy to xyz function using algebra/geometry # def xy_to_xyz2(self, xy): #print("xy", xy) #print("xscale", self.xScale) #print("yscale", self.yScale) out = np.add(np.multiply(xy[0],self.xScale) + np.multiply(xy[1],self.yScale), self.canvas_corners[0]) print(out) return out # # GET SCALE # def get_scale(self, pix, corners): dif = np.subtract(corners[0], corners[1]) return -(dif/pix) # # HEAT MAP # def generate_heatmap(self): image = self.image.astype(dtype='int32') canvas = self.ptransform.warped.astype(dtype='int32') subtraction = np.subtract(image,canvas) print(subtraction) heatmap = np.full(im.shape,255, dtype='uint8') print(heatmap.shape) for i in range(subtraction.shape[0]): for j in range(subtraction.shape[1]): if (subtraction[i][j] < 0): heatmap[i][j][0] -= abs(subtraction[i][j]) heatmap[i][j][1] -= abs(subtraction[i][j]) elif (subtraction[i][j] > 0): heatmap[i][j][2] -= abs(subtraction[i][j]) heatmap[i][j][1] -= abs(subtraction[i][j]) return heatmap # # GETS CLOSEST COLOR # def get_closest_color(self, chosen_pixel): available_pixel = self.available_pixel distances = [] for key, value in available_pixel.items(): a1 = np.asarray(value) c1 = np.asarray(chosen_pixel) curr_dist = np.linalg.norm(a1 - c1) distances += [curr_dist] if(curr_dist == min(distances)): curr_key = key return curr_key # # move_to_file # def move_to_file(self, filename): var = [] count = 0 lines = open(filename, "r").read().split('\n') x,y,z,f,angle = 0 moveArm,moveWrist = False for i in range(len(lines)): for word in lines[i].split(' '): if(word is 'G0'): moveArm = True if(word[0] is 'X'): x = float(word[1:]) elif(word[0] is 'Y'): y = float(word[1:]) elif(word[0] is 'Z'): z = float(word[1:]) elif(word[0] is 'F'): f = float(word[1:]) elif(word is 'WA'): moveWrist = True angle = float(word[1:]) if(moveArm): self.swift.set_position(x=x, y=y, z=z, speed =f, cmd = "G0") moveArm = False time.sleep(1) if(moveWrist): self.swift.set_wrist(angle) moveWrist = False time.sleep(1) coordinates.close() # # SETTING FOUR CORNERS # def setFourCorners(self): speed_s = 10000 delay = 1 cmd_s = 'G0' todo = 4 coords = [[], [], [], []] while todo >0: key = input() if key == "tr": newCoord = self.swift.get_position() coords[1] = newCoord todo -= 1 print("Top right coordinate saved as ", newCoord) elif key == "tl": newCoord = self.swift.get_position() coords[0] = newCoord todo -= 1 print("Top left coordinate saved as", newCoord) elif key == "bl": newCoord = self.swift.get_position() coords[2] = newCoord todo -= 1 print("Bottom left coordinate saved as", newCoord) elif key == "br": newCoord = self.swift.get_position() coords[3] = newCoord todo -= 1 print("Bottom right coodirnate saved as", newCoord) return coords # # SAVED COORDS TO FILE # def saveCoordsToFile(self, fn): delay = 1 coords = [] while True: key = input() if key == "save": newCoord = swift.get_position() coords.append(newCoord) print("New coordinate saved as" + str(newCoord)) elif key == "done": break elif key.isdigit(): coords.append(int(key)) if os.path.exists(fn + ".uar"): os.remove(fn + ".uar") file = open(fn + ".uar", "w+") for c in coords: if not check(c): file.write("G0 X%f Y%f Z%f F5000\n" %(c[0], c[1], c[2])) else: self.set_wrist(c) file.write("WA " %(c)) coordinates.close() moveTo(fn + ".uar") return coords def check(inp): try: num_float = float(inp) return True except: return False # # GET M # def get_m(self, width, height): A = np.transpose(self.canvas_corners) print(A) B = [[0,0,1],[width,0,1],[0,height,1],[width,height,1]] B = np.transpose(B) print(B) pinvB = np.linalg.pinv(B) print(pinvB) M = np.matmul(A, np.linalg.pinv(B)) print(M) return M # # xytoxyz # def xy_to_xyz(self,xy): xyz = [xy[0],xy[1],1] xyz = np.transpose(xyz) return np.matmul(self.M,xyz) # # go to position # def go_to_position(self, xyz, f): print('going to : ', xyz) self.swift.set_position(x=xyz[0], y=xyz[1], z=xyz[2], speed = f, cmd = "G0") #: time.sleep(1) # # draw a line # # start and end: [x,y] def draw_line(self, start, end): startxyz = self.xy_to_xyz2(start) endxyz = self.xy_to_xyz2(end) start_pre = [startxyz[0]-20, startxyz[1], startxyz[2]] end_post = [endxyz[0]-20, endxyz[1], endxyz[2]] print("going to start pre") self.go_to_position(start_pre, 10000) print("going to start") self.go_to_position(startxyz, 5000) print("going to end") self.go_to_position(endxyz, 5000) print("going to end post") self.go_to_position(end_post, 10000) # # # draws a line, by moving across a list of points # def draw_line2(self, points): startxyz = self.xy_to_xyz2(points[0]) endxyz = self.xy_to_xyz2(points[-1]) start_pre = [startxyz[0]-5, startxyz[1], startxyz[2]] end_post = [endxyz[0]-5, endxyz[1], endxyz[2]] #print("going to start pre") self.go_to_position(start_pre, 10000) for point in points: point_xyz = self.xy_to_xyz2(point) self.go_to_position(point_xyz, 5000) #print("going to end post") self.go_to_position(end_post, 10000) # # # draws a line, by moving across a list of points # does NOT go to pre and post painting position # def draw_line3(self, points): startxyz = self.xy_to_xyz2(points[0]) endxyz = self.xy_to_xyz2(points[-1]) #print("going to start pre") #self.go_to_position(start_pre, 10000) for point in points: point_xyz = self.xy_to_xyz2(point) self.go_to_position(point_xyz, 5000)
import sys import time from datetime import datetime from uarm.wrapper import SwiftAPI sys.path.append(os.path.join(os.path.dirname(__file__), '../../..')) speed = 20000 swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Wischer swift2.waiting_ready() swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Stift swift1.waiting_ready() # Stift Setting swift1.set_position(150, 0, 10, speed=speed, timeout=20) swift1.set_wrist(90) time.sleep(2) swift1.set_gripper(True) time.sleep(2) swift1.set_position(150, 0, 20, speed=speed, timeout=20) time.sleep(2) # Wischer Setting swift2.set_position(150, 0, 0, speed=speed, timeout=20) swift1.set_wrist(90) time.sleep(2) swift2.set_gripper(True) swift2.set_position(110, 0, 20, speed=speed, timeout=20) time.sleep(2)
coords = open("output.txt", "r") lines = coords.readlines() for coord in lines: swift.reset() data = coord.split() x = data[1] y = data[0] x_out = -0.3498 * int(float(x)) / 1932 * 2016 + 524.2 #+0.01*int(y) y_out = -0.355 * int( float(y)) / 1449 * 1504 + 341 - 0.01 * (1400 - int(float(x))) swift.set_position(x=x_out, y=y_out, z=15) swift.set_wrist(90) time.sleep(0.2) #down = input("Down? ") swift.set_pump(True) swift.set_position(x=x_out, y=y_out, z=0) #up = input("Up? ") time.sleep(0.2) swift.set_position(x=x_out, y=y_out, z=30) ang1 = swift.get_servo_angle()[0] x = data[3] y = data[2] r = data[4] x_out = -0.3498 * int(float(x)) + 524.2 #+0.01*int(y) y_out = -0.355 * int(float(y)) + 341 - 0.01 * (1400 - int(float(x)))