def ezg_init_connection():
global dev_name, ids, last_message, connection, gripper
try:
s = find_servos_on_all_ports(max_id=10)
if s:
dev_name, ids = s[0]
print "dev", dev_name
print "ids", ids
connection = create_connection(dev_name=dev_name, baudrate=57600)
#connection = create_connection(dev_name='/dev/ttyUSB0', baudrate=57600)
#connection = create_connection(dev_name='hwgrep://0403:6001', baudrate=57600)
#gripper = Gripper(connection, 'gripper1', [1])
gripper = Gripper(connection, 'gripper1', ids)
last_message = ""
else:
last_message = "No grippers found"
except Exception, e:
last_message = str(e)
#!/usr/bin/python
# -*- coding: utf-8 -*-
import sys
from libezgripper import create_connection, Gripper
from PyQt4 import QtGui, QtCore
connection = create_connection(dev_name='/dev/ttyUSB0', baudrate=57600)
gripper = Gripper(connection, 'gripper1', [1])
#gripper = Gripper(connection, 'gripper1', [1,2,3])
#gripper = Gripper(connection, 'gripper1', [2,3])
class GripperGUI(QtGui.QMainWindow):
def __init__(self):
super(GripperGUI, self).__init__()
self.initUI()
def initUI(self):
calibrateButton = QtGui.QPushButton("Calibrate", self)
calibrateButton.resize(100, 30)
# calibrateButton.setStyleSheet("background-color:rgb(153, 153, 153)")
calibrateButton.clicked.connect(gripper.calibrate)
calibrateButton.move(50, 10)
calibrateButton.show()
releaseButton = QtGui.QPushButton("Release", self)
releaseButton.resize(600, 40)
releaseButton.clicked.connect(gripper.release)
releaseButton.move(50, 50)
# Main Program
rospy.init_node('ezgripper')
rospy.loginfo("Started")
port_name = rospy.get_param('~port', '/dev/ttyUSB0')
baud = int(rospy.get_param('~baud', '1000000'))
gripper_params = rospy.get_param('~grippers')
diagnostics_pub = rospy.Publisher('/diagnostics',
DiagnosticArray,
queue_size=1)
connection = create_connection(port_name, baud)
all_servos = []
references = []
grippers = []
for gripper_name, servo_ids in gripper_params.iteritems():
gripper = Gripper(connection, gripper_name, servo_ids)
all_servos += gripper.servos
gripper.calibrate()
gripper.open()
references.append(
rospy.Service('~' + gripper_name + '/calibrate', Empty,
partial(calibrate_srv, gripper)))