def __init__(self, showonui):
print 'My Robot Arm design: TeleHand'
self.showonui=showonui
self.base=MyAbstractJoint(7, min=40, max=120, speed=40)
self.shoulder=MyAbstractJoint(6, min=30, max=170, speed=40)
self.bicep=MyAbstractJoint(5, min=10, max=100, speed=255)
self.elbow=MyAbstractJoint(4, min=40, max=130, speed=255)
self.handL=MyAbstractJoint(3, min=10, max=170, speed=255)
self.handR=MyAbstractJoint(2, min=10, max=170, speed=255)
class MyRobotHand():
def __init__(self, showonui):
print 'My Robot Arm design: TeleHand'
self.showonui=showonui
self.base=MyAbstractJoint(7, min=40, max=120, speed=40)
self.shoulder=MyAbstractJoint(6, min=30, max=170, speed=40)
self.bicep=MyAbstractJoint(5, min=10, max=100, speed=255)
self.elbow=MyAbstractJoint(4, min=40, max=130, speed=255)
self.handL=MyAbstractJoint(3, min=10, max=170, speed=255)
self.handR=MyAbstractJoint(2, min=10, max=170, speed=255)
def grip_open(self):
self.handL.moveto(90)
self.handR.moveto(120)
def grip_close(self):
self.handL.moveto(140)
self.handR.moveto(65)
def grip2(self):
print 'grip2'
posl=150
posr=65
hl=self.handL
hr=self.handR
ll=posl-hl.lastpos
lr=posr-hr.lastpos
return True
class MyRobotHand():
def __init__(self, showonui):
print 'My Robot Arm design: TeleHand'
self.showonui = showonui
self.base = MyAbstractJoint(7, min=40, max=120, speed=40)
self.shoulder = MyAbstractJoint(6, min=30, max=170, speed=40)
self.bicep = MyAbstractJoint(5, min=10, max=100, speed=255)
self.elbow = MyAbstractJoint(4, min=40, max=130, speed=255)
self.handL = MyAbstractJoint(3, min=10, max=170, speed=255)
self.handR = MyAbstractJoint(2, min=10, max=170, speed=255)
def grip_open(self):
self.handL.moveto(90)
self.handR.moveto(120)
def grip_close(self):
self.handL.moveto(140)
self.handR.moveto(65)
def grip2(self):
print 'grip2'
posl = 150
posr = 65
hl = self.handL
hr = self.handR
ll = posl - hl.lastpos
lr = posr - hr.lastpos
return True
def __init__(self, showonui):
print 'My Robot Arm design: TeleHand'
self.showonui = showonui
self.base = MyAbstractJoint(7, min=40, max=120, speed=40)
self.shoulder = MyAbstractJoint(6, min=30, max=170, speed=40)
self.bicep = MyAbstractJoint(5, min=10, max=100, speed=255)
self.elbow = MyAbstractJoint(4, min=40, max=130, speed=255)
self.handL = MyAbstractJoint(3, min=10, max=170, speed=255)
self.handR = MyAbstractJoint(2, min=10, max=170, speed=255)
