def Turn_on():
myBox = ControlBox('COM3', 9600)
myBox.connect()
dvals = myBox.digitalIn('i', [1, 2, 3])
myBox.digitalOutList([1, 2, 3], dvals)
def __init__(self, portName, baud, alphaIds):
ControlBox.__init__(self, portName, baud)
# if alphaIds is a single interger, change it to a list
if isinstance(alphaIds, int):
alphaIds = self.change_int_to_list(alphaIds)
self.alphaIds = alphaIds
self.alphaLims = np.tile([[-90], [0], [90]], len(alphaIds))
self.musecLims = np.tile([[600], [1500], [2400]], len(alphaIds))
self.alphaOrient = [-1, 1, 1, -1, 1, -1]
self.alphaHome = [0, 0, 0, 0, 0, 0]
self.alphaSleep = [0, 0, 0, 0, 0, 0]
#interpolation of angles to positions
self.ticks = [0] * len(self.alphaIds)
for i in range(len(alphaIds)):
# creates an object
self.ticks[i] = interp1d(self.alphaLims[:, i],
self.musecLims[:, i],
fill_value="extrapolate")
def __init__(self, portName, baud):
ControlBox.__init__(self, portName, baud)
self.alphaIds = [1, 2, 3, 4, 5]
self.alphaLims = np.array([
-90, -90, -90, -90, -90, 0.00, 0, 0, 0, 0, 0, 3.0 / 4.0, 90, 90,
90, 90, 80, 1.125
])
self.alphaLims.shape = (3, 6)
self.musecLims = np.tile([[1000], [1500], [2000]], len(self.alphaIds))
self.alphaOrient = [-1, -1, 1, 1, -1]
#interpolation of angles to positions (alphaLims to musec)
self.ticks = [0] * len(self.alphaIds)
for i in range(len(self.alphaIds)):
# creates an object
self.ticks[i] = interp1d(self.alphaLims[:, i],
self.musecLims[:, i],
fill_value="extrapolate")
self.alphaHome = [0, 0, 0, 0, 0]
self.alphaSleep = [0, 0, 0, 0, 0]
from controlBox import ControlBox
from time import sleep
myBox = ControlBox('COM3', 9600)
myBox.connect()
timer = 0
while timer != 100:
dvals = myBox.digitalIn('i', [1, 2, 3])
print(dvals)
myBox.digitalOutList([1, 2, 3], dvals)
sleep(1)
timer += 1
print('Done')
myBox.digitalOutList([1, 2, 3], [0, 0, 0])
myBox.shutDown()
## scripts to test the ControlBox calibrating static method
from controlBox import ControlBox
test = ControlBox('COM3', 9600)
test.connect()
test.setServos(1, 1500, 25)
#test.disable()
test.shutDown()
print ControlBox.debugger()
from controlBox import ControlBox
from time import sleep
myBox = ControlBox('COM3', 9600)
myBox.connect()
myBox.digitalOut(1, 1)
for i in range(6):
myBox.digitalOut(1, 1)
sleep(1)
myBox.digitalOut(1, 0)
sleep(1)
from controlBox import ControlBox
from time import sleep
myBox = ControlBox('COM3', 9600)
myBox.connect()
aVals = myBox.analogIn('a', [4, 5, 6])
print aVals
def Turn_off():
myBox = ControlBox('COM3', 9600)
myBox.connect()
myBox.digitalOutList([1, 2, 3], [0, 0, 0])
from controlBox import ControlBox
from robotArm import RobotArm
myBox = ControlBox('COM3', 9600)
myBox.connect()
#myBox.setServos([1,2,6],[1000,600,1000], 17)
myBox.digitalIn('f', [1, 2])
myBox.digitalOut(1, 0)
myBox.shutDown()
myArm = RobotArm('COM3', 9600, [1, 2, 6])
myArm.connect()
myArm.setServos([3, 4], [900, 900], 25)
myArm.setServos([3, 4], [1500, 1500], 25)
myArm.setServos([3, 4], [2000, 2000], 25)
#myArm.setServos(1,2000, 25)
print(myArm.alphaIds)
myArm.setArm([0, 0, 0], 25)
myArm.setArm([85, 85, 85], 25)
myArm.setArm([0, 0, 0], 25)
myArm.setArm([-85, -85, -85], 25)
myArm.gotoHome()
myArm.shutDown()
'''
write a reset static function to make the motors work
It should send a bunch of ";" to the serial port and shut it down
That way you
'''
from controlBox import ControlBox
from time import sleep
myBox = ControlBox('COM3', 9600)
myBox.debugger()
myBox.connect()
timing = 0
while timing != 15:
#for i in range(6):
myBox.digitalOut(1, 1)
myBox.digitalOut(2, 0)
sleep(1)
myBox.digitalOut(1,0)
myBox.digitalOut(2,1)
myBox.digitalOut(2,0)
sleep(1)
timing += 1
else:
myBox.shutDown()
print 'time_over'
from controlBox import ControlBox
from robotArmClass import RobotArm
myBox = ControlBox('COM3', 9600)
myBox.connect()
myBox.setServos([1, 2, 6], [1600, 1000, 2000], 17)
myBox.digitalIn('f', [1, 2])
myBox.digitalOut(1, 0)
myBox.shutDown()
myArm = RobotArm('COM3', 9600, [1, 2, 6])
myArm.connect()
#myArm.setServos([1,2,6],[2000,1200,1200], 255)
#myArm.setServos(myArm.alphaIds,[1600,600,2000], 25)
print myArm.alphaIds
myArm.setArm((5, 85, -90), 255)
myArm.gotoHome()
myArm.shutDown()