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'
# 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()
