def __init__(self,
uarm_tty_port='/dev/ttyUSB1',
uart_delay=2,
initial_position=initial_position,
servo_attach_delay=5,
set_position_delay=5,
servo_detach_delay=5,
pump_delay=5,
scan_x_displacement=5,
scan_y_displacement=5,
scan_z_displacement=0,
stride_x=2,
stride_y=2,
stride_z=0):
self.uarm_tty_port = uarm_tty_port
self.uart_delay = uart_delay
self.initial_position = initial_position
self.servo_attach_delay = servo_attach_delay
self.set_position_delay = set_position_delay
self.servo_detach_delay = servo_detach_delay
self.pump_delay = pump_delay
self.scan_x_displacement = scan_x_displacement
self.scan_y_displacement = scan_y_displacement
self.scan_z_displacement = scan_z_displacement
self.stride_x = stride_x
self.stride_y = stride_y
self.stride_z = stride_z
self.uarm = pyuarm.UArm(port_name=self.uarm_tty_port)
self.handle_exit_signals()
time.sleep(self.uart_delay)
def __init__(self, mute=False, projector=True):
#uArm
self.arm = pyuarm.UArm(debug=False,mac_address='FC:45:C3:24:76:EA', ble=False)
self.arm.connect()
self.speed = 200 # speed limit
self.ground = 30 # z value to touch suction cup to ground
self.position = np.array([[0],[150],[150]]) # default start position
self.arm.set_position(0, 150, 150, speed=self.speed, wait=True) #just to be safe
self.mute = mute # controls if sounds are made of not
#Projector
self.projector = projector # controls if projections are made or not
# commenting out projection
####cv2.startWindowThread()
####cv2.namedWindow("window", cv2.WND_PROP_FULLSCREEN)
####cv2.setWindowProperty("window",cv2.WND_PROP_FULLSCREEN,cv2.WINDOW_FULLSCREEN)
self.projection_process = None
# commenting out projection
####self.project() # start with blank projection
# camera
self.setup_camera()
self.setup_calibrators()
self.view = None #most recent camera image captured
self.tempimgpath = '/tmp/hirocurrentframe.jpg'
def moving():
#获取读入的点集合
poionts = read_data()
for each_point in poionts:
print each_point
#机械臂初始化
uarm = pyuarm.UArm()
time.sleep(1)
#写每个点
for each_point in poionts:
print each_point
#蘸墨水
if (each_point[0] >60):
uarm.set_position(each_point[0], each_point[1], each_point[2], 40)
time.sleep(1.2)
#写字
else:
uarm.set_position(each_point[0], each_point[1], each_point[2], 100)
time.sleep(1)
#释放机械臂并断开连接；如果上面移动出错，无法执行uarm.set_servo_detach()语句
uarm.set_servo_detach()
uarm.disconnect()
return
import picamera
from time import sleep
import cv2
import pyuarm
arm = pyuarm.UArm()
arm.connect()
arm.set_position(0, 200, 240)
#width=4032
#height=3040
width = 1920
height = 1200
camera = cv2.VideoCapture(0)
camera.set(cv2.CAP_PROP_FRAME_WIDTH, width)
camera.set(cv2.CAP_PROP_FRAME_HEIGHT, height)
#camera.set(cv2.CAP_PROP_EXPOSURE, 1000)
camera.set(cv2.CAP_PROP_BUFFERSIZE, 1) # don't capture multiple frames
i = 0
while True:
success, frame = camera.read()
if not success:
continue
cv2.imshow('Preview', cv2.resize(frame, (1920, 1080)))
key = cv2.waitKey(1)
if key % 256 == 27:
break # escape
elif key == ord('c'):
# c - key means capture
print(f"capturing to chessboard_img_fhd/image{i}_0.jpg")