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"
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
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()
KNI.getPosition(m.pos)
m.transition = KNI.PTP
m.velocity = 50
m.acceleration = 2
