def moveangleinc(self, x, y, z, r=0, q=1):
if q == 1:
lastIndex = dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVJANGLEINCMode,
x,
y,
z,
r,
isQueued=1)[0]
dType.SetQueuedCmdStartExec(self.api)
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
# print(f"{dType.GetQueuedCmdCurrentIndex(self.api)} :current index")
# print(dType.GetQueuedCmdCurrentIndex(self.api))
dType.dSleep(500)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
else:
dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVJANGLEINCMode,
x,
y,
z,
r,
isQueued=0)
def continuousCMD(self, x, y, z):
lastIndex = dType.SetCPCmd(self.api,
cpMode=0,
x=x,
y=y,
z=z,
isQueued=1,
velocity=100)[0]
dType.SetQueuedCmdStartExec(self.api)
# print (lastIndex)
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
dType.dSleep(500)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
def jog(self, cmd, isJoint=1, q=1):
## Jogging Mode isJoint 0: Cartesian Coordinate System
## 1 : Joint Coordinate System
## cmd :joint coordinate: joint1+/- joint2+/- joint3 +/- joint4+/-
##cmd: cartesian :X +/- Y +/- Z +/- R+/- L+/-
if q == 1:
lastIndex = dType.SetJOGCmd(self.api,
isJoint=isJoint,
cmd=cmd,
isQueued=1)
print("Command executed")
dType.SetQueuedCmdStartExec(self.api)
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
# print(f"{dType.GetQueuedCmdCurrentIndex(self.api)} :current index")
# print(dType.GetQueuedCmdCurrentIndex(self.api))
dType.dSleep(500)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
elif q == 0:
dType.SetJOGCmd(self.api, isJoint=isJoint, cmd=cmd, isQueued=0)
else:
print("enter q=0 or 1 for isQueued")
def disconnect(self):
try:
dType.DisconnectDobot(self.api)
print("Disconnected")
except:
pass
def __init__(self, port="ttyUSB0"):
self.DEFINED_HOME = (206, 0, 135, 0)
# self.DEFINED_HOME = (190,58,146,17)
CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"
}
self.api = dType.load()
print("Loaded API")
state = dType.ConnectDobot(self.api, port, 115200)[0]
print("Connect status:", CON_STR[state])
if (state == dType.DobotConnect.DobotConnect_Occupied):
print("Error - Dobot Can't Connect")
print("Possible Problems - ")
print("1) Wrong Port. Pls check /dev and use the correct port.")
print(
"2) User doesn't have required priveleges for the port. Pls add user to dialout group or use chmod on the port."
)
print(
"3) Robot wasn't disconnected properly. Pls restart the robot and replug the USB and try again."
)
exit()
if (state == dType.DobotConnect.DobotConnect_NoError):
print("Connected.")
# Clean Command Queued
dType.SetQueuedCmdClear(self.api)
# Async Motion Params Setting
dType.SetHOMEParams(self.api, 206, 0, 135, 0,
isQueued=1) # set home co-ordinates [x,y,z,r]
# dType.SetPTPJointParams(self.api, 100, 100, 100, 100, 100, 100, 100, 100,
# isQueued=1) # joint velocities(4) and joint acceleration(4)
print(1)
dType.SetPTPCommonParams(
self.api, 90, 90,
isQueued=1) # velocity ratio, acceleration ratio
print(2)
dType.SetPTPJumpParams(self.api, 30, 135,
isQueued=1) # jump height , zLimit
print(3)
dType.SetPTPJointParams(self.api,
50,
50,
50,
50,
50,
50,
50,
50,
isQueued=1)
print(4)
# dType.SetJOGJointParams(self.api, 10, 10, 10, 10, 10, 10, 10, 10, isQueued=1)
# dType.SetJOGCoordinateParams(self.api, 100, 100, 100, 100, 100, 100, 100,100, isQueued=1)
# lastIndex = dType.SetPTPCmd(self.api, dType.PTPMode.PTPMOVJXYZMode, 212, -83, 20, 100, isQueued=1)[0]
# # mode, x,y,z,r
print("start moving")
lastIndex = dType.SetPTPCmd(self.api,
dType.PTPMode.PTPMOVJXYZMode,
*self.DEFINED_HOME,
isQueued=1)[0]
print("got initial command")
dType.SetQueuedCmdStartExec(self.api)
print("step1")
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
print("step2")
dType.dSleep(500)
# print(dType.GetQueuedCmdCurrentIndex(self.api))
# print(lastIndex)
# print(lastIndex)
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
print("Done moving to home")
def get_dobot_joint(self):
# return float x, float y,float z, float r, float joint1,...joint 4
poses = dType.GetPose(self.api)
return poses
def grip(self, grip=0, t=0.5, q=0):
if q == 1:
if grip == 0:
lastIndex = dType.SetEndEffectorGripper(
self.api, 1, grip, isQueued=1)[0] # control,enable/disable
dType.SetQueuedCmdStartExec(self.api)
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
dType.dSleep(500)
time.sleep(t)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
lastIndex = dType.SetEndEffectorGripper(
self.api, 0, grip, isQueued=1)[0] # control,enable/disable
dType.SetQueuedCmdStartExec(self.api)
while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
dType.dSleep(500)
time.sleep(t)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
else:
lastIndex = dType.SetEndEffectorGripper(
self.api, 1, grip, isQueued=1)[0] # control,enable/disable
dType.SetQueuedCmdStartExec(self.api)
# while lastIndex > dType.GetQueuedCmdCurrentIndex(self.api)[0]:
# dType.dSleep(500)
time.sleep(t)
# Stop to Execute Command Queued
dType.SetQueuedCmdStopExec(self.api)
dType.SetQueuedCmdClear(self.api)
else:
dType.SetEndEffectorGripper(self.api, 1, grip, isQueued=0)
time.sleep(t)
dType.SetEndEffectorGripper(self.api, 0, grip, isQueued=0)