Rr = {'alpha': 90, 'A': 210, 'D': chi * 1225}
Br = {'alpha': 90, 'A': 0, 'D': 0}
Tr = {'alpha': -90, 'A': 0, 'D': 0}
Fr = {'alpha': 0, 'A': 0, 'D': 175}
Sn = {'alpha': 0, 'A': 0, 'D': 540} #(alpha, A, D, theta)
Ln = {'alpha': 90, 'A': 140, 'D': 0}
Un = {'alpha': 0, 'A': 1150, 'D': 0}
Rn = {'alpha': 90, 'A': 210, 'D': 1225}
Bn = {'alpha': 90, 'A': 0, 'D': 0}
Tn = {'alpha': -90, 'A': 0, 'D': 0}
Fn = {'alpha': 0, 'A': 0, 'D': 175}
dhParamsR = {'S': Sr, 'L': Lr, 'U': Ur, 'R': Rr, 'B': Br, 'T': Tr, 'F': Fr}
dhParamsN = {'S': Sn, 'L': Ln, 'U': Un, 'R': Rn, 'B': Bn, 'T': Tn, 'F': Fn}
NrkSDK = SDK.SDKlib("SDKMFC2015.dll")
NrkSDK.connToSA()
homePoseSA = (0, 90, 0, 0, 90, 0, 0)
rN = robot.robot('NominaLRobot', NrkSDK, 'SA', *homePoseSA, **dhParamsN)
targs = ['T0', 'T1', 'T2']
for t in targs:
T = NrkSDK.GetWorkingTransformOfObjectFixedXYZ('A', t)
p = getPoseForFrame(T, rN)
input('Hit Enter to Move to Target')
rN.setPose(*p)
input('Hit Enter to Go Home')
rN.setPose(*homePoseSA)
input('Hit Enter to Kill Robot')
NrkSDK.DeleteCollection(rN.col)
self.win.show()
self.win.raise_()
def runApp(self):
self.parameters.sigTreeStateChanged.connect(self.change)
if __name__ == '__main__':
try:
app = QtGui.QApplication.instance()
if app is None: #Qt cannot be called twice. Checks if been created. If so, doesn't create a new one. Executes existing one on pendant.runApp()
app = QtGui.QApplication([])
else:
print('QApplication instance already exists: %s' % str(app))
path = "C:\\Users\\mallman\\Documents\\git\\SDKDlls\\SDKMFC2015\\Release"
dllFile = "SDKMFC2015.dll"
NrkSDK = SDK.SDKlib(os.path.join(path, dllFile))
NrkSDK.connToSA()
pendant = Pendant(NrkSDK = NrkSDK)
if (sys.flags.interactive != 1) or not hasattr(QtCore, 'PYQT_VERSION'):
if not (app is None):
app.exec_()
finally:
for r in pendant.robots:
r.killRobot()
Cleanup()
