def Connect(self):
#Connect Dobot
self.state = dType.SearchDobot(self.api, 10)
if not self.state:
print("Empty")
dType.DisconnectDobot(self.api)
self.state = dType.ConnectDobot(self.api, "", 115200)[0]
print(CON_STR[self.state])
if (CON_STR[self.state] == "DobotConnect_NotFound"):
print("Error")
dType.DisconnectDobot(self.api)
sys.exit("Please connect the Robot")
return False
dType.GetDeviceSN(self.api)
dType.GetDeviceName(self.api)
dType.GetDeviceVersion(self.api)
dType.GetDeviceWithL(self.api)
dType.GetPoseL(self.api)
dType.GetKinematics(self.api)
#dType.GetHOMEParams(self.api)
print("Connect status:", CON_STR[self.state])
if (self.state == dType.DobotConnect.DobotConnect_NoError):
dType.SetQueuedCmdClear(self.api)
return True
else:
dType.DisconnectDobot(self.api)
return False
def initDobot(api):
# Clean Command Queued
dType.SetQueuedCmdClear(api)
# デバイスのシリアルナンバーを取得する
dSN = dType.GetDeviceSN(api)
print(dSN)
# デバイス名を取得する
dName = dType.GetDeviceName(api)
print(dName)
# デバイスのバージョンを取得する
majorV, minorV, revision = dType.GetDeviceVersion(api)
print(majorV, minorV, revision)
# JOGパラメータの設定
dType.SetJOGJointParams(api, 200, 200, 200, 200,
200, 200, 200, 200, isQueued=1) # 関節座標系での各モータの速度および加速度の設定
dType.SetJOGCoordinateParams(api, 200, 200, 200, 200,
200, 200, 200, 200, isQueued=1) # デカルト座標系での各方向への速度および加速度の設定
# JOG動作の速度、加速度の比率を設定
dType.SetJOGCommonParams(api, 100, 100, isQueued=1)
# PTPパラメータの設定
dType.SetPTPJointParams(api, 200, 200, 200, 200,
200, 200, 200, 200, isQueued=1) # 関節座標系の各モータの速度および加速度を設定
# デカルト座標系での各方向への速度および加速度の設定
dType.SetPTPCoordinateParams(api, 200, 200, 200, 200, isQueued=1)
# PTP動作の速度、加速度の比率を設定
dType.SetPTPCommonParams(api, 100, 100, isQueued=1)
def connectDobots():
global id_m1 #also in dobotStates[id_m1]
global id_magL
global id_magR
global m1
global magL
global magR
print(dType.SearchDobot(api))
USBnms = dType.SearchDobot(api)
#print(dType.GetDeviceName(api, id_))
usb_n = 0
while (usb_n < 3):
id_ = connectCOM(USBnms[usb_n])
nm = dType.GetDeviceName(api, id_)[0]
#print('found %s with id: %d at USB: %s'%(nm, id_, USBnms[usb_n]))
if (nm.find('d2') is not -1):
magR, id_magL = connectDobot(id_, "magR", QColor(255, 177, 0, 166),
window.checkBox_MagL,
window.label_MagL_id,
True) #1 # rail connected
id_nms_default[id_magR] = 'id_magR'
elif (nm.find('d1') is not -1):
magL, id_magR = connectDobot(id_, "magL", QColor(0, 255, 0, 166),
window.checkBox_MagR,
window.label_MagR_id) #2
id_nms_default[id_magL] = 'id_magL'
elif (nm.find('M1') is not -1):
m1, id_m1 = connectDobot(
id_, "m1", QColor(0, 111, 255,
166), window.checkBox_M1, window.label_M1_id
) #0 # QtCore.Qt.green QColor(0, 0, 255) Qt.darkYellow
id_nms_default[id_m1] = 'id_m1'
usb_n += 1
if (dobotStates[id_m1].bOn):
print(dType.GetArmOrientation(api, id_m1))
dType.SetArmOrientation(
api, id_m1, 0, 1) #!! SetArmOrientationEx -> SetArmOrientation
print(dType.GetArmOrientation(api, id_m1))
# print('dobots connected')
# print(dobotStates[id_m1])
# print(dobotStates[id_magL])
# print(dobotStates[id_magR])
# print(dobotRailState)
m1.posPivot_loadFromFile()
setSpeed(35)
def Connect(self):
#Connect Dobot
self.state = dType.ConnectDobot(self.api, "", 115200)[0]
dType.GetDeviceSN(self.api)
dType.GetDeviceName(self.api)
dType.GetDeviceVersion(self.api)
dType.GetDeviceWithL(self.api)
dType.GetPoseL(self.api)
dType.GetKinematics(self.api)
#dType.GetHOMEParams(self.api)
print("Connect status:",CON_STR[self.state])
if (self.state == dType.DobotConnect.DobotConnect_NoError):
dType.SetQueuedCmdClear(self.api)
return True
else :
dType.DisconnectDobot(self.api)
return False
print("Connect status:",CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_NoError):
#Clean Command Queued
dType.SetQueuedCmdClear(api)
#Async Motion Params Setting
dType.SetHOMEParams(api, 250, 0, 50, 0, isQueued = 1)
dType.SetPTPJointParams(api, 100, 100, 100, 100, 200, 200, 200, 200, isQueued = 1)
dType.SetPTPCommonParams(api, 100, 100, isQueued = 1)
#Async Home
#dType.SetHOMECmd(api, temp = 0, isQueued = 1)
print("Device Name:" , dType.GetDeviceName(api))
print("Hareket-01: Kablo.1 konumuna git")
dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 260, 150, 80, 0, isQueued = 1)
print("Hareket-02: Kablo.1 konumunda alçal")
dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 260, 150, 20, 0, isQueued = 1)
## Gripper Close
dType.SetEndEffectorGripper(api, gripperOn, 1, 1)
###dType.SetWAITCmd(api, 1, 1)
print("Hareket-03: Kablo.1 konumunda yüksel")
dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 260, 150, 80, 0, isQueued = 1)
print("Hareket-04: Kablo.2 konumunda git")
dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 260, -150, 80, 0, isQueued = 1)
print("Hareket-05: Kablo.2 konumunda alçal")
dType.SetPTPCmd(api, dType.PTPMode.PTPMOVLXYZMode, 260, -150, 20, 0, isQueued = 1)
