def __init__(self):
####################
#move_arm呼出し
self.arm = move_arm.move_arm()
self.arm.x = 0.0
self.arm.y = 0.15
self.arm.z = 0.10
self.arm.wrist_arg = 0.0
self.grip = 95
self.arm.move_xyz()
self.arm.grip(self.grip)
M_PI = 3.14
def __init__(self):
####################
#move_arm呼出し
self.arm = move_arm.move_arm()
self.arm.x = 0.0
self.arm.y = 0.2
self.arm.z = 0.1
self.arm.wrist_arg = 0.0
grip = 0
self.arm.move_xyz()
self.arm.grip(grip)
M_PI = 3.14
##loop
while (1):
key = raw_input('key=> ')
if key == "q":
break
elif key == "8": #forward
self.arm.y += 0.01
elif key == "2": #back
self.arm.y -= 0.01
elif key == "6": #right
self.arm.x += 0.01
elif key == "4": #left
self.arm.x -= 0.01
elif key == "5": #up
self.arm.z += 0.01
elif key == "0": #down
self.arm.z -= 0.01
elif key == "9": #wrist up
self.arm.wrist_arg -= M_PI / 180 * 5
elif key == "3": #wrist down
self.arm.wrist_arg += M_PI / 180 * 5
elif key == "7": #tilt5 close
grip += 10
if grip > 100: grip = 100
self.arm.grip(grip)
elif key == "1": #tilt5 open
grip -= 10
if grip < 0: grip = 0
self.arm.grip(grip)
#ARM移動
self.arm.move_xyz()
exit()
def __init__(self, ARM_ON, GRAPH_ON):
#ARM制御ONモード[True/False]
self.ARM_ON = ARM_ON
#画面描画ONモード[True/False]
self.GRAPH_ON = GRAPH_ON
#ARM制御準備
if self.ARM_ON == True:
self.arm = move_arm.move_arm()
self.arm.Step = 100
self.arm.WaitMove = False
#パラメータ初期設定
self.setup_param()
if self.ARM_ON == True:
self.arm.Step = 100
self.arm.x = (self.x_Left + self.x_Right) / 2
self.arm.y = (self.y_Top + self.y_Bottom) / 2
self.arm.z = self.HeightDown + 0.02
self.arm.grip(0)
self.arm.move_xyz()
def __init__(self):
####################
#move_arm呼出し
self.arm = move_arm.move_arm()
self.arm.x = 0.0
self.arm.y = 0.2
self.arm.z = 0.1
self.arm.wrist_arg = 0.0
grip = 95
self.arm.move_xyz()
self.arm.grip(grip)
M_PI = 3.14
##loop
while (10):
#catch
self.arm.z -= 0.03 #0
self.arm.y += 0.07 #8
#self.arm.x+=0.001 #6
grip -= 95
if grip > 100: grip = 100
self.arm.move_xyz()
self.arm.grip(grip) #7
#catch back
self.arm.z += 0.03 #5
self.arm.y -= 0.07 #2
#self.arm.x-=0.001 #4
self.arm.move_xyz()
grip += 95
if grip < 0: grip = 0
self.arm.grip(grip) #1
#ARM移動
#self.arm.move_xyz()
exit()
#! /usr/bin/env python
# -*- coding: utf-8 -*-
#move_arm制御プログラム実装例
# 試してみたい項目の "if(0):" を "if(1)" に書き換えてから実行してください
import rospy
import move_arm_v1 as move_arm
####################
#move_arm呼出し
arm=move_arm.move_arm()
####################
#xyz座標で移動例(単位:m)
#- 原点はアーム本体の場所（根元）
arm.z=+0.10
#x,y 4象限移動例
if(0):
arm.x=+0.10
arm.y=+0.20
arm.move_xyz()
arm.x=-0.10
arm.y=+0.20
arm.move_xyz()
arm.x=+0.10
arm.y=-0.20