class set_arm_control(): def __init__(self,RELAY_PIN=12): self.arm = SwiftAPI() self.arm.get_power_status() self.RELAY_PIN = RELAY_PIN self.arm.reset() #機械手臂進行初始化動作 def set_arm_origin(self): self.arm.waiting_ready() self.arm.set_position(200, 0, 170, speed=100000) # 機械手臂設定(x, y, z)座標移動 def set_arm_move(self, x, y, z): self.arm.set_position(x, y, z, speed=100000) # 機械手臂切斷連線 def arm_disconnect(self): self.arm.disconnect() def get_position(self): print(self.arm.get_position()) #初始設定繼電器 def origin_pump(self): GPIO.setmode(GPIO.BOARD) # 指定模式BOARD 啟用RPi板子相對應之腳位編號 GPIO.setwarnings(False) # 避免出現警告 GPIO.setup(self.RELAY_PIN, GPIO.OUT) # 設定pin腳為輸出 #打開幫浦=開啟繼電器(使電流流通) def start_pump(self): GPIO.output(self.RELAY_PIN, 0) #關閉幫浦=關閉繼電器(使電流不能流通) def close_pump(self): GPIO.output(self.RELAY_PIN, 1)
# swift.flush_cmd(wait_stop=True) # print('step 1') # swift.set_polar(rotation=10, height=150, speed=1000*200) # swift.flush_cmd(wait_stop=True) # print('step 2') # swift.set_polar(rotation=60, height=0, speed=1000*200) # swift.flush_cmd(wait_stop=True) # print('step 3') # swift.set_polar(rotation=90, height=150, speed=1000*200) # swift.flush_cmd(wait_stop=True) # print('step 4') # swift.set_polar(rotation=120, height=50, speed=1000*200) # swift.flush_cmd(wait_stop=True) # print('step 5') # swift.set_polar(stretch=200, speed=1000*200) # swift.set_polar(rotation=170, height=150) # swift.flush_cmd(wait_stop=True) print('-- move end') time.sleep(10) print('-- disconnect') swift.disconnect()
class uArmSwift: def __init__(self): self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, cmd_pend_size=2, callback_thread_pool_size=1) if not self.swift.connected: print('lose connect') self.swift.waiting_ready() device_info = self.swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): self.swift.set_speed_factor(0.00005) self.swift.set_mode(0) self.speed = 500000 self.swift.set_wrist(angle=90) self.wristAngle = self.swift.get_servo_angle(0, timeout=10) def set_position(self, x=100, y=0, z=100, wait=False): self.swift.set_position(x, y, z, speed=self.speed, wait=wait) def set_polar(self, stretch, rotation, height, wait=False): self.swift.set_polar(stretch, rotation, height, speed=self.speed, wait=wait) def set_servo_angle(self, num, angle, wait=False): if num < 0 and num > 3: print("num is wrong") self.swift.set_servo_angle(num, angle, wait, speed=self.speed, wait=wait) def set_wrist(self, angle=90, wait=False): # 第四电机 self.swift.set_wrist(angle, wait) def set_pump(self, on=False): self.swift.set_pump(on) def set_buzzer(self, freq=1000, duration=1, wait=False): self.swift.set_buzzer(freq, duration, wait) def get_position(self): return self.swift.get_position() def get_servo_angle(self, id=0): return self.swift.get_servo_angle(id, timeout=10) def is_moving(self): return self.swift.get_is_moving() def disconnect(self): self.swift.disconnect()
device_info = swift1.get_device_info() print(swift1.port, device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): swift1.set_speed_factor(0.00001) swift2.waiting_ready() device_info = swift2.get_device_info() print(swift2.port, device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): swift2.set_speed_factor(0.00001) X = 0 Y = 1 Z = 2 R = 3 swift1.set_servo_detach() swift1.register_report_position_callback(lambda position: swift2.set_position( x=position[X], y=position[Y], z=position[Z], speed=100000000, timeout=1)) # swift1.register_report_position_callback(lambda position: swift2.set_position(x=position[X] + random.random() * 5, y=position[Y] + random.random() * 5 , z=position[Z], speed=100000000, timeout=1)) swift1.set_report_position(interval=0.001) input() swift1.disconnect()
class UArm_SDK(object): def __init__(self): ''' connect to UArm ''' self.swift = SwiftAPI() self.swift.connect() self.swift.get_power_status() print(self.swift.get_device_info()) self.swift.reset(wait=True) # back to home position print('init complete') self.gripper_temp = 0 # keep track of gripper state def __del__(self): ''' disconnect UArm ''' self.swift.disconnect() print('uarm disconnected') def set_servo_angle(self, joint_angles, dt): ''' set servo angle via SDK input: joint_angles, 5-vector: [theta1, theta2, theta3, theta4, pump state] in degrees dt, time step ''' wait = True self.swift.set_servo_angle(servo_id=0, angle=joint_angles[0] + 90, speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=1, angle=joint_angles[1], speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=2, angle=joint_angles[2] - joint_angles[1], speed=5000, wait=wait) time.sleep(dt / 4) self.swift.set_servo_angle(servo_id=3, angle=180 - joint_angles[3], speed=5000, wait=wait) time.sleep(dt / 4) if joint_angles[4] > 0: self.swift.set_pump(on=True) elif joint_angles[4] == 0: self.swift.set_pump(on=False) else: print("ERROR") def control_uarm_via_traj(self, position, wrist_angle, pump_state, dt): ''' set end effector position, wrist angle and pump state via SDK input: position, 3-vector: [px, py, pz] wrist_angle: wrist angle in rad pump_state: bool, 0 - off, 1 - on ''' px, py, pz = position[0], position[1], position[2] # conver m to mm px *= 1000 py *= 1000 pz *= 1000 # change end effector position e = self.swift.set_position(x=px, y=py, z=pz, speed=100000, wait=True) print(e) # change wrist angle self.swift.set_wrist(90 - wrist_angle * 180 / PI) if self.gripper_temp == 0 and pump_state == 1: # enable suction cup self.swift.set_pump(on=True, wait=True) print('pump on') self.gripper_temp = 1 if self.gripper_temp == 1 and pump_state == 0: # disable suction cup self.swift.set_pump(on=False, wait=True) print('pump off') self.gripper_temp = 0 time.sleep(dt)
class uarmRobotClass(object): def __init__(self): self.x_pos = 0 self.y_pos = 0 self.tcp_rot = 0 self.z_pos = 0 self.pick = 0 self.connect = 0 self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) self.swift.waiting_ready(timeout=3) self.swift.set_speed_factor(0.5) self.swift.waiting_ready(timeout=3) self.swift.disconnect() def openPort(self): self.swift.connect() #swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) self.swift.waiting_ready(timeout=3) self.swift.set_speed_factor(0.5) self.swift.waiting_ready(timeout=3) self.swift.set_position(150, 0, 50, wait=True) def closePort(self): self.swift.disconnect() self.swift.waiting_ready(timeout=3) def move(self): Index = 0 pick = 0 connect = 0 while True: if (dummy == False) and (connect == 0) and (self.connect == 1): self.openPort() ret = self.swift.get_position(wait=True) print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2])) x_pos = ret[0] y_pos = ret[1] tcp_rot = ret[2] print("connected") connect = 1 if (dummy == False) and (connect == 1) and (self.connect == 0): self.closePort() connect = 0 print("disconnnected") if (self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0) or (self.pick != 0) or (self.connect != 0): if logLevel > 1: print("index = %d: x_pos = %d; y_pos = %d; z_pos = %d; tcp_rot = %d; pick = %d; connect = %d" % (Index, self.x_pos, self.y_pos, self.z_pos, self.tcp_rot, self.pick, self.connect)) Index = Index + 1 if (dummy == False) and (connect == 1) and ((self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0)): self.swift.set_position(x=self.x_pos, y=self.y_pos, z=self.z_pos, wait=True, relative=True); ret = self.swift.get_position(wait=True) if logLevel > 0: print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2])) if (dummy == False) and (pick == 0) and (self.pick != 0): self.swift.set_pump(on=True) pick = 1 if (dummy == False) and (pick == 1) and (self.pick == 0): self.swift.set_pump(on=False) pick = 0 time.sleep(0.001);
class uArm(): def __init__(self): self.scope = 10 self.x0 = 160 self.y0 = 0 self.swift = SwiftAPI(filters={'hwid':'USB VID:PID=2341:0042'}) self.swift.waiting_ready(timeout=3) # self.swift.set_speed_factor(0.005) # if you change this, be prepared for different movements! self.swift.set_mode(mode=0) time.sleep(0.5) self.swift.set_servo_angle(angle=90) self.swift.set_wrist(angle=90) self.swift.set_position(x=200,y=0,z=20) # start it off with a salute self.swift.set_buzzer(frequency=1000, duration=1) # signal ready self.lstValidCharSet = ['?','A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z',\ '-','0','1','2','3','4','5','6','7','8','9'] self.lstLetter = [self.QuestionMark, self.LetterA, self.LetterB, self.LetterC, self.LetterD, self.LetterE, self.LetterF,\ self.LetterG, self.LetterH, self.LetterI, self.LetterJ, self.LetterK, self.LetterL, self.LetterM, self.LetterN,\ self.LetterO, self.LetterP, self.LetterQ, self.LetterR, self.LetterS, self.LetterT, self.LetterU, self.LetterV,\ self.LetterW, self.LetterX, self.LetterY, self.LetterZ, self.Hyphen, self.Number0, self.Number1, self.Number2,\ self.Number3, self.Number4, self.Number5, self.Number6, self.Number7, self.Number8, self.Number9] def __del__(self): input("PLEASE SUPPORT uARM ARM!!, then strike ENTER to continue ...") self.swift.set_buzzer(frequency=600, duration=2) self.swift.set_position(x=200,y=0,z=20) self.swift.flush_cmd() self.swift.disconnect() del self.swift self.swift = None def arm(self): """ Using this method to allow raw access to the uArm if required """ return self.swift def insert_pen(self): self.swift.set_buzzer(frequency=1000, duration=0.5) # signal ready self.swift.set_servo_angle(angle=90) time.sleep(0.5) self.swift.set_wrist(angle=90) time.sleep(0.5) self.swift.set_position(x=200,y=0,z=0) while (self.swift.get_is_moving()): continue input("Set pen in universal holder, then strike ENTER to continue ...") self.swift.set_position(x=200,y=0,z=10) return def pen_up(self): while (self.swift.get_is_moving()): continue x, y, z = self.swift.get_position() self.swift.set_position(x, y, 10) time.sleep(0.5) return 10 def pen_down(self): while (self.swift.get_is_moving()): continue x, y, z = self.swift.get_position() self.swift.set_position(x, y, 0) time.sleep(0.5) return 0 def setScope(self, strName): """ based upon the length of strName, determine the scope (char width) and starting X, Y positions assuming that the center of the page is 160,0 x extent is 110 - 210, y extent 80 - (-80) (x axis is PARALLEL to the arm, short edge of the paper) """ if type(strName) == str: strName = strName[:26] # going to truncate user input to a 26 characters max intLenName = len(strName) if (intLenName < 4): self.scope = 40.0 # keeping it real else: self.scope = math.floor(160.0/(intLenName * 1.1)) self.x0 = 160 - (0.5 * self.scope) self.y0 = self.scope * intLenName * 1.1 / 2 return def LetterSelect(self, c): """ given char c, return the plotting function index 0 resolves to the question mark character """ index = 0 if type(c) == str: if c == ' ': return self.SpaceBar else: c = c.upper() if c in self.lstValidCharSet: index = self.lstValidCharSet.index(c) - self.lstValidCharSet.index('A') + 1 # 0th item is '?' # if c in ['A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z']: # index = ord(c) - ord('A') + 1 # using question mark as the 0th index item return self.lstLetter[index] # return the function to use
class UArmHandler(object): def __init__(self, ui): super(UArmHandler, self).__init__() self.ui = ui self.arm = None self.port = None self.cmd_que = queue.Queue(100) self.cmd_thread = XArmThread(self.cmd_que, check=False) self.cmd_thread.signal.connect(self.run_cmd) self.cmd_thread.start() self.report_que = queue.Queue() self.report_thread = XArmThread(self.report_que, check=True) self.report_thread.signal.connect(self.update_ui) self.report_thread.start() def run_cmd(self, item): try: if self.arm and self.arm.connected: func = getattr(self.arm, item['cmd']) # log(item['cmd']+':', func(*item.get('args', []), **item.get('kwargs', {}))) ret = func(*item.get('args', []), **item.get('kwargs', {})) if item['cmd'] == 'get_position' and isinstance( ret, list) and len(ret) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': ret, 'angles': None } }) elif item['cmd'] == 'get_polar' and isinstance( ret, list) and len(ret) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': [None, None, None, *ret], 'angles': None } }) elif item['cmd'] == 'get_servo_angle' and isinstance( ret, list) and len(ret) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': None, 'angles': ret } }) elif item['cmd'] == 'get_device_info': self.report_que.put({'type': 'info', 'item': ret}) elif item['cmd'] == 'get_mode' or item['cmd'] == 'set_mode': self.report_que.put({ 'type': 'mode', 'item': { 'mode': ret } }) # if isinstance(ret, int) and ret == TCP_OR_JOINT_LIMIT: # self.ui.reset_flag() logger.debug('cmd: {}, ret:{}, args: {}, kwargs: {}'.format( item['cmd'], ret, item.get('args', []), item.get('kwargs', {}))) else: self.cmd_que.queue.clear() self.report_connected_callback({'connected': False}) logger.debug('cmd: {}, ret: xArm is not connected'.format( item['cmd'])) except: pass def connect(self, port): try: logger.debug('try connect to {}'.format(port)) if self.arm and self.arm.connected: logger.info('disconnect from {}'.format(self.port)) self.arm.disconnect() except Exception as e: print(e) threading.Thread(target=self.connnect_thread, args=(port, ), daemon=True).start() def connnect_thread(self, port): try: self.port = port self.arm = SwiftAPI(port=port, do_not_open=True) self.arm.connect() if not self.arm.connected: time.sleep(0.5) self.arm.waiting_ready() self.report_connected_callback({'connected': True}) device_info = self.arm.get_device_info() self.report_que.put({'type': 'info', 'item': device_info}) mode = self.arm.get_mode() self.report_que.put({'type': 'mode', 'item': {'mode': mode}}) position = self.arm.get_position() if isinstance(position, list) and len(position) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': position, 'angles': None } }) polar = self.arm.get_polar() if isinstance(polar, list) and len(polar) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': [None, None, None, *polar], 'angles': None } }) angles = self.arm.get_servo_angle() if isinstance(angles, list) and len(angles) >= 3: self.report_que.put({ 'type': 'location', 'item': { 'position': None, 'angles': angles } }) return True except Exception as e: # print(e) self.report_connected_callback({'connected': False}) def disconnect(self): try: if self.arm and self.arm.connected: self.arm.disconnect() self.report_connected_callback({'connected': False}) # logger.info('diconnect from {}'.format(self.addr)) except Exception as e: print(e) def update_ui(self, data): item = data['item'] if data['type'] == 'timeout': if not self.arm or not self.arm.connected: self.ui.update_connect_status(False) elif data['type'] == 'connect': self.ui.update_connect_status(item['connected']) elif data['type'] == 'location': pos = item['position'] angles = item['angles'] if angles: self.ui.axis_ui.update_joints(angles) if pos: self.ui.cartesian_ui.update_cartesians(pos) elif data['type'] == 'info': self.ui.update_device_info(item) elif data['type'] == 'mode': self.ui.update_mode(item['mode']) def report_connected_callback(self, item): self.report_que.put({'type': 'connect', 'item': item}) def put_cmd_que(self, item): self.cmd_que.put(item)
class MinionArm: def __init__(self): self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) self.swift.waiting_ready() device_info = self.swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): self.swift.set_speed_factor(0.0005) self.speed = 110000 self.test() self.board = "right" def test(self): # self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True) self.swift.reset(wait=True, speed=self.speed) self.move(1250, 0, 150, self.speed) print(self.swift.get_position()) # self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True) def home(self): print("going home") self.swift.set_position(x=150, y=0, speed=self.speed * 0.5, wait=True) self.move(145, 0, 100, self.speed * 1.5) time.sleep(2) # self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True) def rest(self): print("going to rest position") self.swift.set_position(x=150, speed=self.speed * 0.5, wait=True) self.swift.set_position(x=125, y=0, speed=self.speed * 0.5, wait=True) self.move(125, 0, 40, self.speed * 0.5) time.sleep(2) self.swift.set_buzzer(frequency=1000, duration=0.5) def move(self, x, y, z, speed): self.swift.set_position(x, y, z, speed, wait=True) def flip(self): print("flipping") # self.home() self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True) if self.board == "right": self.flip_left() self.board = "left" else: self.flip_right() self.board = "right" self.home() self.swift.set_buzzer(frequency=500, duration=1.0, wait=True) def flip_left(self): self.move(180, 0, 150, self.speed) self.move(240, 0, 150, self.speed) # self.move(220, 10, 140, self.speed*.2) self.move(220, 40, 150, self.speed * .2) # self.move(220, 40, 110, self.speed*.2) # self.move(220, 60, 100, self.speed*.2) self.move(220, 50, 30, self.speed * .2) time.sleep(1) self.move(180, 50, 20, self.speed * .2) time.sleep(2) def flip_right(self): self.move(180, 0, 150, self.speed) self.move(240, -10, 150, self.speed) # self.move(220, -20, 140, self.speed*.2) self.move(220, -40, 150, self.speed * .2) # self.move(220, -50, 110, self.speed*.2) # self.move(220, -60, 100, self.speed*.2) self.move(220, -60, 20, self.speed * .2) self.move(180, -50, 20, self.speed * .2) time.sleep(2) def move_to_galton_cal_pos(self): self.move(180, 0, 150, self.speed) self.move(240, 0, 150, self.speed) wait = input("waiting") self.home() def disconnect(self): self.swift.disconnect()