def main():
arm = meArm.meArm()
arm.begin()
try:
while True:
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 150, 0)
arm.gotoPoint(0, 150, 150)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(-150, 150, 50)
arm.gotoPoint(150, 150, 50)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 100, 50)
except KeyboardInterrupt:
# CTRL+C exit, inform the server to stop
pwm.set_pwm(0, 0, 0) # switch off signal
pwm.set_pwm(1, 0, 0) # switch off signal
pwm.set_pwm(2, 0, 0) # switch off signal
pwm.set_pwm(3, 0, 0) # switch off signal
def main():
arm = meArm.meArm()
while True:
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.gotoPoint(0, 10, 20)
time.sleep(0.5)
arm.gotoPoint(0, 20, 50)
time.sleep(0.5)
arm.gotoPoint(0, 50, 70)
time.sleep(0.5)
arm.gotoPoint(0, 20, 100)
time.sleep(0.5)
arm.gotoPoint(1, 1, 1)
time.sleep(0.5)
arm.gotoPoint(50, 50, 100)
time.sleep(0.5)
arm.gotoPoint(20, 30, 50)
time.sleep(0.5)
arm.gotoPoint(10, 10, 20)
time.sleep(0.5)
def main():
arm = meArm.meArm()
arm.begin()
#test base
arm.goDirectlyTo(-195, 100, 50)
arm.goDirectlyTo(0, 200, 50)
arm.goDirectlyTo(195, 100, 50)
def main():
arm = meArm.meArm()
arm.begin()
while True:
arm.openGripper()
time.sleep(5)
arm.closeGripper()
arm.gotoPoint(0, 100, 50)
return 0
def main():
arm = meArm.meArm()
arm.begin()
while True:
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 150, 0)
arm.gotoPoint(0, 150, 150)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(-150, 150, 50)
arm.gotoPoint(150, 150, 50)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 100, 50)
def __init__(self, cam):
self.adc = TyAdc.TyAdc()
self.arm = meArm.meArm(
cal.BASE_MIN_PWM, cal.BASE_MAX_PWM, cal.BASE_MIN_ANGLE_RAD,
cal.BASE_MAX_ANGLE_RAD, cal.SHOULDER_MIN_PWM, cal.SHOULDER_MAX_PWM,
cal.SHOULDER_MIN_ANGLE_RAD, cal.SHOULDER_MAX_ANGLE_RAD,
cal.ELBOW_MIN_PWM, cal.ELBOW_MAX_PWM, cal.ELBOW_MIN_ANGLE_RAD,
cal.ELBOW_MAX_ANGLE_RAD, cal.CLAW_MIN_PWM, cal.CLAW_MAX_PWM,
cal.CLAW_MIN_ANGLE_RAD, cal.CLAW_MAX_ANGLE_RAD)
self.arm.begin(pwmFrequency=cal.PWM_FREQUENCY)
time.sleep(0.5)
self.open(92)
self.cam = cam
self.keymap = key.KeyMap(cam)
self.speech = sphinx.SpeechDetector()
def main():
arm = meArm.meArm()
arm.begin()
while True:
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 150, 0)
arm.gotoPoint(0, 150, 150)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(-150, 150, 50)
arm.gotoPoint(150, 150, 50)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 100, 50)
def main():
arm = meArm.meArm()
arm.begin()
while True:
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.closeGripper()
arm.openGripper()
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 150, 0)
arm.gotoPoint(0, 150, 150)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(-150, 150, 50)
arm.gotoPoint(150, 150, 50)
arm.gotoPoint(0, 150, 50)
arm.gotoPoint(0, 100, 50)
def test():
host=meArm.windows()
me=meArm.meArm(host)
tick()
me.claw()
tick()
me.lift(40)
tick()
me.lower(40)
tick()
me.rotateLeft(90)
tick()
me.rotateRight(90)
tick()
me.up(40)
tick()
me.lower(40)
tick()
me.claw()
print("Test Complete")
engine=pyttsx.init()
except:
print("voice is unavailable")
def speak(phrase):
try:
print(phrase)
#engine.say(phrase)
#engine.runAndWait()
except:
print(phrase)
speak("initializing")
try:
me = meArm.meArm(meArm.windows())
except:
me = meArm.meArm(meArm.linux())
speak("Testing")
me.rotateRight(80)
me.forward(35)
for i in range(5, 30,5):
time.sleep(0.1)
me.leftUp(5)
i+=5
#!/usr/bin/python
import web
import meArm
import Adafruit_CharLCD as LCD
lcd = LCD.Adafruit_CharLCDPlate()
import time # import several libraries we need
urls = {
'/robot', 'robot' # set up url address
}
arm = meArm.meArm()
arm.begin()
arm.closeGripper()
x=0
y=100
z=50
def move_forward(): #define every function
global y
y=y+50 # only make the value of y changes
if -219<=y and y<=219:
arm.gotoPoint(x,y,z)
lcd.set_color(1.0, 0.0, 0.0)
lcd.clear()
lcd.message('Move forward')
else:
y=y-50
lcd.set_color(1.0, 0.0, 0.0)
lcd.clear()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# MeArmCalIK.py
import meArm
#import local config info
execfile('MeArm_Cal_Jetson_Configuration.py')
arm = meArm.meArm(
BASE_MIN_PWM, BASE_MAX_PWM, BASE_MIN_ANGLE_RAD, BASE_MAX_ANGLE_RAD,
SHOULDER_MIN_PWM, SHOULDER_MAX_PWM, SHOULDER_MIN_ANGLE_RAD, SHOULDER_MAX_ANGLE_RAD,
ELBOW_MIN_PWM, ELBOW_MAX_PWM, ELBOW_MIN_ANGLE_RAD, ELBOW_MAX_ANGLE_RAD,
CLAW_MIN_PWM, CLAW_MAX_PWM, CLAW_MIN_ANGLE_RAD, CLAW_MAX_ANGLE_RAD)
arm.begin()
#this lab is completed by Sihan Wu, Yihan Dai and Yitong Wang together
import web
import meArm
import Adafruit_CharLCD as LCD
lcd = LCD.Adafruit_CharLCDPlate()
import time # import several libraries we need
urls = {
'/robot', 'robot' # set up url address
}
arm = meArm.meArm()
arm.begin()
arm.closeGripper()
x=0
y=100
z=50
def move_forward(): #define every function
global y
y=y+50 # only make the value of y changes
if -219<=y and y<=219:
arm.gotoPoint(x,y,z)
lcd.set_color(1.0, 0.0, 0.0)
lcd.clear()
lcd.message('Move forward')
else:
y=y-50
lcd.set_color(1.0, 0.0, 0.0)
lcd.clear()
lcd.message('wrong') # if instructions will make arm go beyond range, then display wrong
