def pre_procedure(self):
"""Pre fabrication setup, speed, acceleration and initial pose."""
# for safety
self.retract_needles()
# Set Acceleration
self.send(
compas_rrc.SetAcceleration(self.global_speed_accel.accel,
self.global_speed_accel.accel_ramp))
log.debug("Acceleration values set.")
# Set Max Speed
self.send(
compas_rrc.SetMaxSpeed(
self.global_speed_accel.speed_override,
self.global_speed_accel.speed_max_tcp,
))
log.debug("Speed set.")
# Initial configuration
log.debug("Sending move to safe joint position")
self.send_and_wait(
MoveToJoints(
self.set_joint_pos.start,
self.EXTERNAL_AXES_DUMMY,
self.speed.travel,
self.zone.travel,
))
def test_speeds():
with RosClient() as ros:
client = compas_rrc.AbbClient(ros)
client.run()
# Confirm start on flexpendant
client.send(PrintText("Confirm start by pressing play."))
client.send(compas_rrc.Stop())
# The speed and acceleration values are then overriden here
client.send(compas_rrc.SetMaxSpeed(SPEED_OVERRIDE, SPEED_MAX_TCP))
client.send(compas_rrc.SetAcceleration(ACCELERATION,
ACCELERATION_RAMP))
client.send(PrintText(f"Speed override: {SPEED_OVERRIDE} %"))
client.send(PrintText(f"Max TCP speed: {SPEED_OVERRIDE} mm/s"))
client.send(PrintText(f"Acceleration: {ACCELERATION} %"))
client.send(PrintText(f"Acceleration ramp: {ACCELERATION_RAMP} %"))
client.send(compas_rrc.SetTool(client.pick_place_tool.name))
client.send(compas_rrc.SetWorkObject("wobj0"))
client.send(PrintText(f"Tool: {TOOL}"))
client.send(PrintText(f"wobj: {WOBJ}"))
if TEST_JOINT_POS:
for i in range(N_TIMES_REPEAT_LISTS):
speed = START_SPEED + SPEED_INCREMENTS * i
client.send(
PrintText(f"Speed: {speed} mm/s, Zone: {ZONE} mm.", ))
client.send(compas_rrc.StartWatch())
for pos in JOINT_POS:
client.send(
MoveToJoints(pos, client.EXTERNAL_AXES_DUMMY, speed,
ZONE))
# Block until finished and print cycle time
client.send(compas_rrc.StopWatch())
cycle_time = client.send_and_wait(compas_rrc.ReadWatch(),
timeout=TIMEOUT)
client.send(PrintText(f"Cycle took {cycle_time} s."))
if TEST_FRAMES:
for i in range(N_TIMES_REPEAT_LISTS):
speed = START_SPEED + SPEED_INCREMENTS * i
client.send(
PrintText(f"Speed: {speed} mm/s, Zone: {ZONE} mm.", ))
client.send(compas_rrc.StartWatch())
for frame in FRAMES:
client.send(
MoveToFrame(
frame,
speed,
ZONE,
motion_type=MOTION_TYPE,
))
# Block until finished and print cycle time
client.send(compas_rrc.StopWatch())
cycle_time = client.send_and_wait(compas_rrc.ReadWatch(),
timeout=TIMEOUT)
client.send(PrintText(f"Cycle took {cycle_time} s."))
client.close()
def test_speeds(run_conf, run_data):
rob_conf = run_conf.robot_client
# Compose up master, driver, bridge
compose_up_driver(rob_conf.controller)
pick_station = run_data["pick_station"]
# This context manager sets up RosClient, inherits from AbbClient
# with added fabrication specific methods
# On exit it unadvertises topics and stops RosClient
with AbbRcfFabricationClient(rob_conf, pick_station) as client:
# Sends ping (noop) and restarts container if no response
client.ensure_connection()
client.log_and_print("Confirm start by pressing play.")
# Confirm start on flexpendant
client.confirm_start()
# Sends move to start position, retracts needles and sets the defaults
# speed and acceleration values.
client.pre_procedure()
# The speed and acceleration values are then overriden here
client.send(compas_rrc.SetMaxSpeed(SPEED_OVERRIDE, SPEED_MAX_TCP))
client.send(compas_rrc.SetAcceleration(ACCELERATION,
ACCELERATION_RAMP))
client.log_and_print(f"Speed override: {SPEED_OVERRIDE} %")
client.log_and_print(f"Max TCP speed: {SPEED_OVERRIDE} mm/s")
client.log_and_print(f"Acceleration: {ACCELERATION} %")
client.log_and_print(f"Acceleration ramp: {ACCELERATION_RAMP} %")
if PICK_ELEMENT:
# Sends instruction to pick up element from first position
# Subsequent calls picks up from next positions
client.pick_element()
client.send(compas_rrc.SetTool(client.pick_place_tool.name))
client.send(compas_rrc.SetWorkObject("wobj0"))
client.log_and_print(f"Tool: {TOOL}")
client.log_and_print(f"wobj: {WOBJ}")
if TEST_FRAMES:
for i in range(N_TIMES_REPEAT_LISTS):
speed = START_SPEED + SPEED_INCREMENTS * i
client.log_and_print(
f"Speed: {speed} mm/s, Zone: {ZONE} mm.", )
client.send(compas_rrc.StartWatch())
for frame in FRAMES:
client.send(
MoveToFrame(
frame,
speed,
ZONE,
motion_type=MOTION_TYPE,
))
# Block until finished and print cycle time
client.send(compas_rrc.StopWatch())
cycle_time = client.send_and_wait(compas_rrc.ReadWatch(),
timeout=TIMEOUT)
client.log_and_print(f"Cycle took {cycle_time} s.")
if TEST_JOINT_POS:
for i in range(N_TIMES_REPEAT_LISTS):
speed = START_SPEED + SPEED_INCREMENTS * i
client.log_and_print(
f"Speed: {speed} mm/s, Zone: {ZONE} mm.", )
client.send(compas_rrc.StartWatch())
for pos in JOINT_POS:
client.send(
MoveToJoints(pos, client.EXTERNAL_AXES_DUMMY, speed,
ZONE))
# Block until finished and print cycle time
client.send(compas_rrc.StopWatch())
cycle_time = client.send_and_wait(compas_rrc.ReadWatch(),
timeout=TIMEOUT)
client.log_and_print(f"Cycle took {cycle_time} s.")