def Turn_on(): myBox = ControlBox('COM3', 9600) myBox.connect() dvals = myBox.digitalIn('i', [1, 2, 3]) myBox.digitalOutList([1, 2, 3], dvals)
def __init__(self, portName, baud, alphaIds): ControlBox.__init__(self, portName, baud) # if alphaIds is a single interger, change it to a list if isinstance(alphaIds, int): alphaIds = self.change_int_to_list(alphaIds) self.alphaIds = alphaIds self.alphaLims = np.tile([[-90], [0], [90]], len(alphaIds)) self.musecLims = np.tile([[600], [1500], [2400]], len(alphaIds)) self.alphaOrient = [-1, 1, 1, -1, 1, -1] self.alphaHome = [0, 0, 0, 0, 0, 0] self.alphaSleep = [0, 0, 0, 0, 0, 0] #interpolation of angles to positions self.ticks = [0] * len(self.alphaIds) for i in range(len(alphaIds)): # creates an object self.ticks[i] = interp1d(self.alphaLims[:, i], self.musecLims[:, i], fill_value="extrapolate")
def __init__(self, portName, baud): ControlBox.__init__(self, portName, baud) self.alphaIds = [1, 2, 3, 4, 5] self.alphaLims = np.array([ -90, -90, -90, -90, -90, 0.00, 0, 0, 0, 0, 0, 3.0 / 4.0, 90, 90, 90, 90, 80, 1.125 ]) self.alphaLims.shape = (3, 6) self.musecLims = np.tile([[1000], [1500], [2000]], len(self.alphaIds)) self.alphaOrient = [-1, -1, 1, 1, -1] #interpolation of angles to positions (alphaLims to musec) self.ticks = [0] * len(self.alphaIds) for i in range(len(self.alphaIds)): # creates an object self.ticks[i] = interp1d(self.alphaLims[:, i], self.musecLims[:, i], fill_value="extrapolate") self.alphaHome = [0, 0, 0, 0, 0] self.alphaSleep = [0, 0, 0, 0, 0]
from controlBox import ControlBox from time import sleep myBox = ControlBox('COM3', 9600) myBox.connect() timer = 0 while timer != 100: dvals = myBox.digitalIn('i', [1, 2, 3]) print(dvals) myBox.digitalOutList([1, 2, 3], dvals) sleep(1) timer += 1 print('Done') myBox.digitalOutList([1, 2, 3], [0, 0, 0]) myBox.shutDown()
## scripts to test the ControlBox calibrating static method from controlBox import ControlBox test = ControlBox('COM3', 9600) test.connect() test.setServos(1, 1500, 25) #test.disable() test.shutDown() print ControlBox.debugger()
from controlBox import ControlBox from time import sleep myBox = ControlBox('COM3', 9600) myBox.connect() myBox.digitalOut(1, 1) for i in range(6): myBox.digitalOut(1, 1) sleep(1) myBox.digitalOut(1, 0) sleep(1)
from controlBox import ControlBox from time import sleep myBox = ControlBox('COM3', 9600) myBox.connect() aVals = myBox.analogIn('a', [4, 5, 6]) print aVals
def Turn_off(): myBox = ControlBox('COM3', 9600) myBox.connect() myBox.digitalOutList([1, 2, 3], [0, 0, 0])
from controlBox import ControlBox from robotArm import RobotArm myBox = ControlBox('COM3', 9600) myBox.connect() #myBox.setServos([1,2,6],[1000,600,1000], 17) myBox.digitalIn('f', [1, 2]) myBox.digitalOut(1, 0) myBox.shutDown() myArm = RobotArm('COM3', 9600, [1, 2, 6]) myArm.connect() myArm.setServos([3, 4], [900, 900], 25) myArm.setServos([3, 4], [1500, 1500], 25) myArm.setServos([3, 4], [2000, 2000], 25) #myArm.setServos(1,2000, 25) print(myArm.alphaIds) myArm.setArm([0, 0, 0], 25) myArm.setArm([85, 85, 85], 25) myArm.setArm([0, 0, 0], 25) myArm.setArm([-85, -85, -85], 25) myArm.gotoHome() myArm.shutDown() ''' write a reset static function to make the motors work It should send a bunch of ";" to the serial port and shut it down That way you '''
from controlBox import ControlBox from time import sleep myBox = ControlBox('COM3', 9600) myBox.debugger() myBox.connect() timing = 0 while timing != 15: #for i in range(6): myBox.digitalOut(1, 1) myBox.digitalOut(2, 0) sleep(1) myBox.digitalOut(1,0) myBox.digitalOut(2,1) myBox.digitalOut(2,0) sleep(1) timing += 1 else: myBox.shutDown() print 'time_over'
from controlBox import ControlBox from robotArmClass import RobotArm myBox = ControlBox('COM3', 9600) myBox.connect() myBox.setServos([1, 2, 6], [1600, 1000, 2000], 17) myBox.digitalIn('f', [1, 2]) myBox.digitalOut(1, 0) myBox.shutDown() myArm = RobotArm('COM3', 9600, [1, 2, 6]) myArm.connect() #myArm.setServos([1,2,6],[2000,1200,1200], 255) #myArm.setServos(myArm.alphaIds,[1600,600,2000], 25) print myArm.alphaIds myArm.setArm((5, 85, -90), 255) myArm.gotoHome() myArm.shutDown()