def check_motors(self):
"""Test each motor status"""
motors = [None]*len(self.AXIS_LIMITS)
for i in xrange(1, len(self.AXIS_LIMITS)):
LOG.debug('checking motor %i', i)
enc = KNI.getEncoder(i)
motors[i] = KNI.moveMot(i, enc, self._speed, self._accel) != -1
return motors
def set_neck_orientation(self, xyz, wait=True):
"""Absolute orientation:
Our own version since the IK is useless (ERROR: No solution found)"""
encs = [ (4+i, SpineHW.rad2enc(4+i, v)) for i,v in enumerate(xyz) ]
for axis, enc in encs:
LOG.debug('moving axis %i to encoder %i', axis, enc)
if KNI.moveMot(axis, enc, self._speed, self._accel) == -1:
raise SpineError('failed to reach rotation (axis %i)' % axis)
if not wait:
return
for axis, enc in encs:
if KNI.waitForMot(axis, enc, self._tolerance) != 1:
raise SpineError('failed to wait for motor %i' % (axis))
def set_neck_rot_pos(self, rot_xyz=None, pos_xyz=None):
"""Absolute orentation and position using KNI IK"""
if not self._motors_on or (rot_xyz == pos_xyz == None):
LOG.info('motors are %s [rot: %s\t pos: %s]', self._motors_on,
rot_xyz, pos_xyz)
return False
tp = KNI.TPos()
KNI.getPosition(tp)
if rot_xyz:
tp.phy, tp.theta, tp.psi = rot_xyz
if pos_xyz:
tp.X, tp.Y, tp.Z = pos_xyz
ret = KNI.moveToPos(tp, self._speed, self._accel)
KNI.getPosition(tp)
if ret == -1:
raise SpineError('failed to reach rotation/position')
return True
def reach_pose(self, pose):
"""This pose is defined so that the hardware is safe to switch-off.
pose: a *list* of encoder values for each spine axis
"""
# no wait
if KNI.moveToPosEnc(*pose+[self._speed, self._accel, self._tolerance]+
[True]) == -1:
raise SpineError('failed to reach pose')
def init_arm():
# Just initializes the arm
import os.path
import conf
KatHD400s_6m = __path__[0]+os.path.sep+"katana6M90T.cfg"
LOG.info('trying to connect to Katana400s-6m on %s', conf.spine_hardware)
if KNI.initKatana(KatHD400s_6m, conf.spine_hardware) == -1:
raise SpineError('configuration file not found or'
' failed to connect to hardware', KatHD400s_6m)
else:
print 'loaded config file', KatHD400s_6m, 'and now connected'
def get_neck_info(self):
"""Returns NeckInfo instance"""
# XXX: we are not using the same reference: create a mapping function
# tp = KNI.TPos()
# KNI.getPosition(tp)
# self._neck_info.pos= self.round([tp.X, tp.Y, tp.Z])
# self._neck_info.rot= self.round([tp.phi, tp.theta, tp.psi])
self._neck_info.rot = self.round( \
[ SpineHW.enc2rad(i, KNI.getEncoder(i)) for i in \
xrange(4, len(self.AXIS_LIMITS)) ])
return self._neck_info
# Copyright (C) 2008 Neuronics AG
# PKE/JHA, 2008
############################################################################################
"""
This Skript demonstrates the use of the KNI library through the Python wrapper
For API doc, read the kni_wrapper doc or the kni_wrapper.h file.
"""
#############################################################################################
import sys
sys.path.append("../")
import KNI
from KNI import TMovement
#############################################################################################
import KNI
KNI.initKatana("../../configfiles450/katana6M90T.cfg", "192.168.1.1")
KNI.calibrate(0)
home = TMovement()
KNI.getPosition(home.pos)
home.transition = KNI.PTP
home.velocity = 50
home.acceleration = 2
raw_input("Press [ENTER] to release robot.")
KNI.allMotorsOff()
stackname = "test"
raw_input("Press [ENTER] to store first point (p2p movement).")
m = TMovement()
def get_torso_info(self):
"""Returns TorsoInfo instance"""
self._torso_info.rot= self.round([SpineHW.enc2rad(2,KNI.getEncoder(2)),
0.0,
SpineHW.enc2rad(1,KNI.getEncoder(1))])
return self._torso_info
def calibrate(self):
"""Mandatory call upon hardware switch on. Also can be use to test
calibration procedure."""
# TODO: use another sequence so that the arm does not collide itself
if KNI.calibrate(0) == -1:
raise SpineError('failed to calibrate hardware')
def switch_auto(self):
"""Resumes normal (driven-mode) operation of the robot."""
if not self._motors_on and KNI.allMotorsOn() == -1:
raise SpineError('failed to switch motors on')
self._motors_on = True
def switch_manual(self):
"""WARNING: Allow free manual handling of the robot. ALL MOTORS OFF!"""
if KNI.allMotorsOff() == -1:
raise SpineError('failed to switch motors off')
self._motors_on = False
def sendMsg(self, msg) : if self.isConnected : (axis, action) = msg if axis == 0 : if action == 'CALIB' : KNI.calibrate(0) elif action == 'SETHOME' : from KNI import TMovement self.home = TMovement() KNI.getPosition(self.home.pos) self.home.transition = KNI.PTP self.home.velocity = 50 self.home.acceleration = 2 elif action == 'MOVEHOME' : if self.home != None : KNI.executeMovement(self.home) else : if action == 'STOP' : KNI.moveMot(axis, KNI.getEncoder(axis), 50, 2) elif action == 'RIGHT' : if axis in self.minusMotors : KNI.moveMot(axis, 0, 50, 2) else : KNI.moveMot(axis, 31000, 50, 2) elif action == 'LEFT' : if axis in self.minusMotors : KNI.moveMot(axis, -31000, 50, 2) else : KNI.moveMot(axis, 0, 50, 2) else : print "Port is not connected"
