class Dobot:
def __init__(self, port):
self.interface = Interface(port)
self.interface.stop_queue(True)
self.interface.clear_queue()
self.interface.start_queue()
self.interface.set_point_to_point_jump_params(10, 10)
self.interface.set_point_to_point_joint_params([50, 50, 50, 50],
[50, 50, 50, 50])
self.interface.set_point_to_point_coordinate_params(400, 400, 400, 400)
self.interface.set_point_to_point_common_params(100, 100)
self.interface.set_point_to_point_jump2_params(5, 5, 5)
self.interface.set_jog_joint_params([50, 50, 50, 50], [50, 50, 50, 50])
self.interface.set_jog_coordinate_params([50, 50, 50, 50],
[50, 50, 50, 50])
self.interface.set_jog_common_params(50, 50)
self.interface.set_continous_trajectory_params(50, 50, 50)
def connected(self):
return self.interface.connected()
def get_pose(self):
return self.interface.get_pose()
def home(self, wait=True):
self.interface.set_homing_command(0)
if wait:
self.wait()
def set_homing_parameters(self, x, y, z, r, queue=True):
return self.interface.set_homing_parameters(x, y, z, r)
def get_end_effector_params(self):
return self.interface.get_end_effector_params()
# Move to the absolute coordinate, one axis at a time
def move_to(self, x, y, z, r, wait=True):
self.interface.set_point_to_point_command(2, x, y, z, r)
if wait:
self.wait()
# Slide to the absolute coordinate, shortest possible path
def slide_to(self, x, y, z, r, wait=True):
self.interface.set_point_to_point_command(4, x, y, z, r)
if wait:
self.wait()
# Move to the absolute coordinate, one axis at a time
def move_to_relative(self, x, y, z, r, wait=True):
self.interface.set_point_to_point_command(7, x, y, z, r)
if wait:
self.wait()
# Slide to the relative coordinate, one axis at a time
def slide_to_relative(self, x, y, z, r, wait=True):
self.interface.set_point_to_point_command(6, x, y, z, r)
if wait:
self.wait()
# Wait until the instruction finishes
def wait(self, queue_index=None):
# If there are no more instructions in the queue, it will end up
# always returning the last instruction - even if it has finished.
# Use a zero wait as a non-operation to bypass this limitation
self.interface.wait(0)
if queue_index is None:
queue_index = self.interface.get_current_queue_index()
while True:
if self.interface.get_current_queue_index() > queue_index:
break
sleep(0.5)
# Move according to the given path
def follow_path(self, path, wait=True):
self.interface.stop_queue()
queue_index = None
for point in path:
queue_index = self.interface.set_continous_trajectory_command(
1, point[0], point[1], point[2], 50)
self.interface.start_queue()
if wait:
self.wait(queue_index)
# Move according to the given path
def follow_path_relative(self, path, wait=True):
self.interface.stop_queue()
queue_index = None
for point in path:
queue_index = self.interface.set_continous_trajectory_command(
0, point[0], point[1], point[2], 50)
self.interface.start_queue()
if wait:
self.wait(queue_index)
def gripper_close(self):
self.interface.set_end_effector_gripper(1, 1)
def gripper_open(self):
self.interface.set_end_effector_gripper(1, 0)
def gripper_off(self):
self.interface.set_end_effector_gripper(0, 0)
def suc_on(self):
self.interface.set_end_effector_suction_cup(1, 1)
def suc_off(self):
self.interface.set_end_effector_suction_cup(1, 0)
import os
sys.path.insert(0, os.path.abspath('.'))
import math
from lib.interface import Interface
bot = Interface('/dev/tty.SLAB_USBtoUART')
print('Bot status:', 'connected' if bot.connected() else 'not connected')
params = bot.get_continous_trajectory_params()
print('Params:', params)
[start_x, start_y, start_z, start_r] = bot.get_pose()[0:4]
bot.set_continous_trajectory_real_time_params(20, 100, 10)
# Draw about half an arch as a single path
bot.stop_queue()
steps = 12
scale = 75
for i in range(steps + 1):
x = math.cos((math.pi / steps) * i)
y = math.sin((math.pi / steps) * i)
# Absolute movement
bot.set_continous_trajectory_command(1, start_x, start_y + y * scale, start_z + x * scale, start_r)
bot.start_queue()