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()
timeout=10, cmd='G0') time.sleep(0.5) swift.set_position(y=-250, speed=move_speed, wait=True, timeout=10, cmd='G0') time.sleep(0.5) swift.set_position(y=0, speed=move_speed, wait=True, timeout=10, cmd='G0') time.sleep(0.5) swift.set_position(y=250, speed=move_speed, wait=True, timeout=10, cmd='G0') swift.set_position(x=325.5, y=0, z=411.5, speed=move_speed, wait=True, timeout=10, cmd='G0') time.sleep(0.5) swift.set_servo_angle(servo_id=3, angle=30) time.sleep(5) # <! wait the effector work done swift.set_servo_angle(servo_id=3, angle=150) time.sleep(5) # <! wait the effector work done
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 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
#swift.set_servo_angle(servo_id=0, angle=90) ##time.sleep(3) #swift.set_servo_angle(servo_id=1, angle=90) ##time.sleep(3) #swift.set_servo_angle(servo_id=2, angle=0) ##time.sleep(3) #swift.set_servo_angle(servo_id=3, angle=90) swift.reset() time.sleep(3) swift.set_speed_factor(2) '''generate configs''' joint_angles = np.zeros((N, 5)) for i in range(N): joint_angles[i, :] = np.array( [90, 90 - 90 / T * dt * i, 90 / T * dt * i, 90, 0]) # step motor step? for i in range(N): swift.set_servo_angle(servo_id=0, angle=joint_angles[i, 0]) # time.sleep(dt/4) swift.set_servo_angle(servo_id=1, angle=joint_angles[i, 1]) # time.sleep(dt/4) swift.set_servo_angle(servo_id=2, angle=joint_angles[i, 2]) # time.sleep(dt/4) swift.set_servo_angle(servo_id=3, angle=joint_angles[i, 3]) # time.sleep(dt/4) time.sleep(1) swift.disconnect()
while swift.connected: swift.set_position(x=300, y=0, z=150, speed=speed) swift.set_position(z=50) swift.set_position(z=150) swift.set_position(x=200, y=100, z=100) swift.set_position(z=50) swift.set_position(z=150) swift.set_position(x=200, y=0, z=150) swift.set_position(z=50) swift.set_position(z=150) swift.set_polar(stretch=200, rotation=90, height=150, speed=speed) swift.set_polar(stretch=200, rotation=45, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=90, speed=speed) swift.set_polar(stretch=200, rotation=135, height=200, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=250, rotation=135, height=150, speed=speed) swift.set_servo_angle(0, 45, speed=speed) swift.set_servo_angle(0, 135, speed=speed) swift.set_servo_angle(1, 45, speed=speed) swift.set_servo_angle(1, 90) swift.set_servo_angle(2, 45) swift.set_servo_angle(2, 60) swift.set_servo_angle(3, 45) swift.set_servo_angle(3, 135)