# dobot.InitializeAccelerometers() # dobot.CalibrateJoint(1, dobot.freqToCmdVal(2000), dobot.freqToCmdVal(50), 1, 5, 1, 0) # Line # dobot.MoveWithSpeed(200.0, 80.0, up, speed, acceleration) # dobot.MoveWithSpeed(200.0, 80.0, down, speed, acceleration) # dobot.MoveWithSpeed(200.0, -90.0, down, speed, acceleration) # dobot.MoveWithSpeed(200.0, -90.0, up, speed, acceleration) # dobot.MoveWithSpeed(200.0, -90.0, down, speed, acceleration) # dobot.MoveWithSpeed(200.0, 80.0, down, speed, acceleration) # dobot.MoveWithSpeed(200.0, 80.0, up, speed, acceleration) # dobot.MoveWithSpeed(200.0, -90.0, up, speed, acceleration) # Rectangle with zig-zag inside dobot.MoveWithSpeed(170.0, -90.0, up, speed, acceleration) dobot.MoveWithSpeed(170.0, -90.0, down, speed, acceleration) dobot.MoveWithSpeed(170.0, 80.0, down, speed, acceleration) dobot.MoveWithSpeed(230.0, 80.0, down, speed, acceleration) dobot.MoveWithSpeed(230.0, -90.0, down, speed, acceleration) dobot.MoveWithSpeed(170.0, -90.0, down, speed, acceleration) x = 230 y = 0 for y in range(-90, 81, 5): if x == 170: x = 230 else: x = 170 dobot.MoveWithSpeed(x, y, down, speed, acceleration) dobot.MoveWithSpeed(x, y, up, speed, acceleration)
#! /usr/bin/env python
import time
from dobot import Dobot
dobot = Dobot('COM5', debug=True)
# Acceleration in mm/s^2
acceleration = 50
speed = 50
#go home
#raw_input("Press Enter to go home...")
#dobot.MoveWithSpeed(140, -200, 80, speed, acceleration)
dobot.MoveWithSpeed(140, -210, 200, speed, acceleration)
!!!!! TAKE ALL POSSIBLE PRECAUTIONS TO PREVENT FIRE !!!!!
!!!!! BE READY TO DISCONNECT THE ARM FROM POWER SOURCE AT ANY TIME !!!!!
'''
from dobot import Dobot
import time
# dobot = Dobot('COM4', debug=True)
dobot = Dobot('/dev/ttyUSB0', debug=True)
# Enable calibration routine if you have a limit switch/photointerrupter installed on the arm.
# See example-switch.py for details.
# Move both arms to approximately 45 degrees.
# dobot.MoveWithSpeed(260.0, 0.0, 85, 700)
# time.sleep(2)
# dobot.CalibrateJoint(1, dobot.freqToCmdVal(2000), dobot.freqToCmdVal(50), 1, 5, 1, 0)
def repeatUntilQueued(on):
ret = (0, 0)
while not ret[0] or not ret[1]:
ret = dobot.LaserOn(on)
dobot.MoveWithSpeed(200.0, -50.0, 100.0, 50)
repeatUntilQueued(True)
dobot.MoveWithSpeed(200.0, 50.0, 100.0, 0.75)
repeatUntilQueued(False)
"Input the required coordinate or input 'h' to go home or 'q' to quit")
if i == 0:
print("Input X: ")
elif i == 1:
print("Input Y: ")
elif i == 2:
print("Input Z: ")
key = input()
if key == 'q':
break
elif key == 'h':
coordinates[0] = 217
coordinates[1] = 0
coordinates[2] = 229
print("Going Home: ", coordinates)
dobot.MoveWithSpeed(coordinates[0], coordinates[1], coordinates[2],
speed, acceleration)
i = 0
else:
coordinates[i] = int(key)
i = i + 1
if i > 2:
if coordinates[0] == 0 and coordinates[1] == 0 and coordinates[
2] == 0:
coordinates[0] = 217
coordinates[1] = 0
coordinates[2] = 229
print("SENT: ", coordinates)
print(dobot.driver.GetAccelerometers())
dobot.MoveWithSpeed(coordinates[0], coordinates[1], coordinates[2],
speed, acceleration)
i = 0
acceleration = 400
# dobot = Dobot('/dev/tty.usbmodem1421', debug=True, fake=True)
# dobot = Dobot('COM4', debug=True)
dobot = Dobot('/dev/ttyUSB0', debug=True)
# Enable calibration routine if you have a limit switch/photointerrupter installed on the arm.
# See example-switch.py for details.
# Take the tool to a safe height.
# dobot.MoveWithSpeed(260.0, 0.0, up, speed, acceleration)
# time.sleep(2)
# dobot.CalibrateJoint(1, dobot.freqToCmdVal(2000), dobot.freqToCmdVal(50), 1, 5, 1, 0)
dobot.Gripper(480)
# Take an object on the right and put to the left
dobot.MoveWithSpeed(260.0, 0.0, up, speed, acceleration, 0)
dobot.MoveWithSpeed(260.0, -70.0, up, speed, acceleration)
dobot.MoveWithSpeed(260.0, -70.0, down, speed, acceleration)
dobot.Gripper(208)
dobot.Wait(0.2)
dobot.MoveWithSpeed(260.0, -70.0, up, speed, acceleration)
dobot.MoveWithSpeed(260.0, 70.0, up, speed, acceleration, 500)
dobot.MoveWithSpeed(260.0, 70.0, down, speed, acceleration)
dobot.Gripper(480)
dobot.Wait(0.2)
dobot.MoveWithSpeed(260.0, 70.0, up, speed, acceleration)
dobot.Wait(0.5)
# Return to center
dobot.MoveWithSpeed(260.0, 0.0, up, speed, acceleration, 0)
from dobot import Dobot
# Acceleration in mm/s^2
acceleration = 20
speed = 20
dobot = Dobot('COM5', debug=False)
dobot.CalibrateJoint(1, dobot.freqToCmdVal(500), dobot.freqToCmdVal(50), 1, 5,
1, 0)
dobot.InitializeAccelerometers()
#===============================================================================
# dobot = Dobot('COM5', debug=True)
# dobot.CalibrateJoint(1, dobot.freqToCmdVal(500), dobot.freqToCmdVal(50),1 , 5, 1, 0)
# dobot.InitializeAccelerometers()
#===============================================================================
#dobot.MoveWithSpeed(260, -10, 80, speed, acceleration)
#go home
#raw_input("Press Enter to go home...")
dobot.MoveWithSpeed(240, -20, 80, speed, acceleration)