def __init__(self):
logger.setLevel(logger.VERBOSE)
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
callback_thread_pool_size=1)
self.swift.waiting_ready()
self.swift.set_speed_factor(factor=20)
self.swift.set_position(x=239.43, y=0, z=170)
def run(self):
while self.alive:
try:
ports = get_ports(filters={'hwid': 'USB VID:PID=2341:0042'})
for port in ports:
if port['device'] not in swifts.keys():
new_swift = SwiftAPI(port=port['device'])
new_swift.waiting_ready()
device_info = new_swift.get_device_info()
print(new_swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
new_swift.set_speed_factor(0.00001)
new_swift.set_mode(mode=0)
with lock:
swifts[port['device']] = new_swift
else:
swift = swifts[port['device']]
if not swift.connected:
with lock:
swifts.pop(port['device'])
except Exception as e:
pass
time.sleep(0.001)
def __init__(self):
self.x_pos = 0
self.y_pos = 0
self.tcp_rot = 0
self.z_pos = 0
self.pick = 0
self.connect = 0
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
self.swift.set_speed_factor(0.5)
self.swift.waiting_ready(timeout=3)
self.swift.disconnect()
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.0005)
self.speed = 110000
self.test()
self.board = "right"
def __init__(self):
'''
connect to UArm
'''
self.swift = SwiftAPI()
self.swift.connect()
self.swift.get_power_status()
print(self.swift.get_device_info())
self.swift.reset(wait=True) # back to home position
print('init complete')
self.gripper_temp = 0 # keep track of gripper state
def connnect_thread(self, port):
try:
self.port = port
self.arm = SwiftAPI(port=port, do_not_open=True)
self.arm.connect()
if not self.arm.connected:
time.sleep(0.5)
self.arm.waiting_ready()
self.report_connected_callback({'connected': True})
device_info = self.arm.get_device_info()
self.report_que.put({'type': 'info', 'item': device_info})
mode = self.arm.get_mode()
self.report_que.put({'type': 'mode', 'item': {'mode': mode}})
position = self.arm.get_position()
if isinstance(position, list) and len(position) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': position,
'angles': None
}
})
polar = self.arm.get_polar()
if isinstance(polar, list) and len(polar) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': [None, None, None, *polar],
'angles': None
}
})
angles = self.arm.get_servo_angle()
if isinstance(angles, list) and len(angles) >= 3:
self.report_que.put({
'type': 'location',
'item': {
'position': None,
'angles': angles
}
})
return True
except Exception as e:
# print(e)
self.report_connected_callback({'connected': False})
def __init__(self, im, pixels, initialized):
if initialized[0]:
self.available_pixel = pixels
else:
self.available_pixel = {'red':[255,0,0], 'green':[0,255,0], 'blue':[0,0,255],'magenta':[255,0,255], 'tomato':[255,99,71], 'lawn green':[124,252,0]}
if initialized[1]:
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.device_info = self.swift.get_device_info()
self.firmware_version = self.device_info['firmware_version']
self.swift.set_mode(0)
if initialized[2]:
self.image = im
if initialized[3] and initialized[1]:
print("moving")
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
# self.swift.set_wrist(20)
# time.sleep(1)
# self.swift.set_wrist(90)
print("Setting four corners; input tl, tr, bl or br")
self.canvas_corners = self.setFourCorners()
else:
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
self.canvas_corners = [
[263,50,103], #tl
[263,-50,103],#tr
[241,50,-12],#bl
[241,-50,-12]]#br
print("Setting four corners to default coordinates")
if initialized[4]:
_, cap = cv2.VideoCapture(0).read()
self.ptransform = perspective.PerspectiveTransform(cap)
self.M = self.get_m(200,200)
self.xScale = self.get_scale(len(im[0]),[self.canvas_corners[0],self.canvas_corners[1]])
self.yScale = self.get_scale(len(im),[self.canvas_corners[0],self.canvas_corners[2]])
print("Arm all set up!")
def __init__(self):
self.scope = 10
self.x0 = 160
self.y0 = 0
self.swift = SwiftAPI(filters={'hwid':'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
# self.swift.set_speed_factor(0.005) # if you change this, be prepared for different movements!
self.swift.set_mode(mode=0)
time.sleep(0.5)
self.swift.set_servo_angle(angle=90)
self.swift.set_wrist(angle=90)
self.swift.set_position(x=200,y=0,z=20) # start it off with a salute
self.swift.set_buzzer(frequency=1000, duration=1) # signal ready
self.lstValidCharSet = ['?','A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z',\
'-','0','1','2','3','4','5','6','7','8','9']
self.lstLetter = [self.QuestionMark, self.LetterA, self.LetterB, self.LetterC, self.LetterD, self.LetterE, self.LetterF,\
self.LetterG, self.LetterH, self.LetterI, self.LetterJ, self.LetterK, self.LetterL, self.LetterM, self.LetterN,\
self.LetterO, self.LetterP, self.LetterQ, self.LetterR, self.LetterS, self.LetterT, self.LetterU, self.LetterV,\
self.LetterW, self.LetterX, self.LetterY, self.LetterZ, self.Hyphen, self.Number0, self.Number1, self.Number2,\
self.Number3, self.Number4, self.Number5, self.Number6, self.Number7, self.Number8, self.Number9]
class uarm:
def __init__(self):
logger.setLevel(logger.VERBOSE)
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
callback_thread_pool_size=1)
self.swift.waiting_ready()
self.swift.set_speed_factor(factor=20)
self.swift.set_position(x=239.43, y=0, z=170)
def jump(self, press_time):
self.swift.set_position(x=239.43, y=0, z=-30)
print("robot:%f" % press_time)
time.sleep(press_time)
self.swift.set_position(x=239.43, y=0, z=170)
# if __name__ == '__main__':
# arm = uarm()
# arm.jump(0.75)
# time.sleep(5)
# arm.jump(0.75)
def Arm_Init():
"""Robotic arm initiation"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
swift.waiting_ready()
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.00005)
swift.set_mode(0)
return swift
def run(self):
while self.alive:
try:
ports = get_ports(filters={'hwid': 'USB VID:PID=2341:0042'})
for port in ports:
if port['device'] not in swifts.keys():
new_swift = SwiftAPI(port=port['device'])
new_swift.waiting_ready()
device_info = new_swift.get_device_info()
print(new_swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
new_swift.set_speed_factor(0.00001)
new_swift.set_mode(mode=0)
with lock:
pos = [150, 0, 150]
for swift in swifts.values():
swift.flush_cmd()
if len(swifts.values()) > 0:
time.sleep(1)
for swift in swifts.values():
pos = swift.get_position()
if isinstance(pos, list):
# print('sync pos:', pos)
break
# new_swift.reset(speed=speed)
swifts[port['device']] = new_swift
for swift in swifts.values():
swift.set_position(x=pos[0], y=pos[1], z=pos[2], speed=speed, wait=False)
for swift in swifts.values():
if swift.connected:
swift.flush_cmd(wait_stop=True)
# if len(swifts) > 1:
# time.sleep(3)
else:
swift = swifts[port['device']]
if not swift.connected:
with lock:
swifts.pop(port['device'])
except Exception as e:
pass
time.sleep(0.001)
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
if not self.swift.connected:
print('lose connect')
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.00005)
self.swift.set_mode(0)
self.speed = 500000
self.swift.set_wrist(angle=90)
self.wristAngle = self.swift.get_servo_angle(0, timeout=10)
"G#" : 11
}
d = {
"A" : 0,
"B" : 1,
"C" : 2,
"D" : 3,
"E" : 4,
"F" : 5,
"G" : 6,
}
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift3 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
device_info = swift.get_device_info()
print(swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.00001)
swift.set_servo_detach()
input('A4')
swift.set_servo_attach()
pos = swift.get_position()
from uarm.wrapper import SwiftAPI
import random
swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift1.waiting_ready()
device_info = swift1.get_device_info()
print(swift1.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift1.set_speed_factor(0.00001)
swift2.waiting_ready()
device_info = swift2.get_device_info()
print(swift2.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift2.set_speed_factor(0.00001)
X = 0
Y = 1
Z = 2
R = 3
swift1.set_servo_detach()
swift1.register_report_position_callback(lambda position: swift2.set_position(
x=position[X], y=position[Y], z=position[Z], speed=100000000, timeout=1))
from uarm.wrapper import SwiftAPI
print("アームロボットと接続を開始...")
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
swift.set_speed_factor(100)
swift.set_mode(0)
print("アームロボットと接続完了 \n")
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, UFactory, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
import threading
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
from uarm.tools.list_ports import get_ports
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
#if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
# swift.set_speed_factor(0.0005)
swift.set_mode(0)
cmd_s = 'G1'
while True:
# enter photo app
swift.set_position(x=267, y=-38, z=30, speed=200, cmd=cmd_s)
#
# Copyright (c) 2018, UFactory, Inc.
# All rights reserved.
#
#
import os
import sys
import time
import functools
import threading
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
enable_handle_thread=False)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_write_thread=True)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_report_thread=True)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_handle_thread=True, enable_write_thread=True, enable_report_thread=True)
swift.waiting_ready() # wait the rebot ready
print(swift.get_device_info())
move_speed = 100
time.sleep(5) # <! must wait the effector check itself
rtn = swift.get_mode(wait=True, timeout=10) # <! make sure the work mode is 5
print(rtn)
if rtn != 5:
swift.set_mode(5)
time.sleep(5) # <! must wait the effector check itself
#!/usr/bin/env python3
import sys
# import time
import asyncio
import socketio
from uarm.wrapper import SwiftAPI
sio = socketio.AsyncClient(reconnection=True)
try:
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
callback_thread_pool_size=2)
swift.waiting_ready(timeout=10)
device_info = swift.get_device_info()
print(device_info)
# swift.set_speed_factor(100)
swift.set_mode(3)
swift.reset(wait=True, speed=250)
# firmware_version = device_info['firmware_version']
# if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
# # swift.set_speed_factor(0.0005)
except Exception:
swift = False
print('swift uArm not connected')
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, UFactory, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from uarm.wrapper import SwiftAPI
"""
pressure test: set mode
"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, cmd_pend_size=2)
swift.waiting_ready()
print(swift.get_device_info())
mode = swift.get_mode()
print('mode:', mode)
mode_count = 4
count = 1
while swift.connected:
mode = (mode + 1) % mode_count
if swift.set_mode(mode) != mode:
print('set mode {} failed, count={}'.format(mode, count))
#
# Copyright (c) 2018, UFactory, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
"""
api test: only support firmware version less than 4.0 temporarily
"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
print(swift.set_fans(on=True))
target_temperature = 200
print(swift.set_temperature(temperature=200, block=False))
current_temperature = 0.0
while current_temperature < target_temperature:
ret = swift.get_temperature()
current_temperature = ret['current_temperature']
print(current_temperature)
time.sleep(1)
#!/usr/bin/env python3
import os
import sys
import time
import functools
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
from uarm.utils.log import logger
logger.setLevel(logger.DEBUG)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_handle_thread=False)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_write_thread=True)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_report_thread=True)
# swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, enable_handle_thread=True, enable_write_thread=True, enable_report_thread=True)
swift.reset(speed=50000, wait=True)
swift.set_position(x=250, y=0, z=10, speed=50000, wait=True)
swift.flush_cmd()
swift.set_pump(True)
swift.set_position(x=250, y=0, z=170, speed=50000, wait=True)
swift.flush_cmd()
swift.set_position(x=220, y=70, z=170, speed=50000, wait=True)
swift.flush_cmd()
swift.set_position(x=200, y=140, z=170, speed=50000, wait=True)
swift.flush_cmd()
swift.set_position(x=180, y=210, z=170, speed=50000, wait=True)
swift.flush_cmd()
swift.set_position(x=250, y=210, z=10, speed=50000, wait=True)
# Software License Agreement (BSD License)
#
# Copyright (c) 2018, UFactory, Inc.
# All rights reserved.
#
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
import threading
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
from uarm.tools.list_ports import get_ports
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
#if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
# swift.set_speed_factor(0.0005)
swift.set_mode(0)
cmd_s = 'G1'
speed_s = 10
delay = 3
swift.set_position(x=260,y=-50,z=30,speed=speed_s,cmd=cmd_s)
class UArm_SDK(object):
def __init__(self):
'''
connect to UArm
'''
self.swift = SwiftAPI()
self.swift.connect()
self.swift.get_power_status()
print(self.swift.get_device_info())
self.swift.reset(wait=True) # back to home position
print('init complete')
self.gripper_temp = 0 # keep track of gripper state
def __del__(self):
'''
disconnect UArm
'''
self.swift.disconnect()
print('uarm disconnected')
def set_servo_angle(self, joint_angles, dt):
'''
set servo angle via SDK
input:
joint_angles, 5-vector: [theta1, theta2, theta3, theta4, pump state] in degrees
dt, time step
'''
wait = True
self.swift.set_servo_angle(servo_id=0,
angle=joint_angles[0] + 90,
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=1,
angle=joint_angles[1],
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=2,
angle=joint_angles[2] - joint_angles[1],
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=3,
angle=180 - joint_angles[3],
speed=5000,
wait=wait)
time.sleep(dt / 4)
if joint_angles[4] > 0:
self.swift.set_pump(on=True)
elif joint_angles[4] == 0:
self.swift.set_pump(on=False)
else:
print("ERROR")
def control_uarm_via_traj(self, position, wrist_angle, pump_state, dt):
'''
set end effector position, wrist angle and pump state via SDK
input:
position, 3-vector: [px, py, pz]
wrist_angle: wrist angle in rad
pump_state: bool, 0 - off, 1 - on
'''
px, py, pz = position[0], position[1], position[2]
# conver m to mm
px *= 1000
py *= 1000
pz *= 1000
# change end effector position
e = self.swift.set_position(x=px, y=py, z=pz, speed=100000, wait=True)
print(e)
# change wrist angle
self.swift.set_wrist(90 - wrist_angle * 180 / PI)
if self.gripper_temp == 0 and pump_state == 1:
# enable suction cup
self.swift.set_pump(on=True, wait=True)
print('pump on')
self.gripper_temp = 1
if self.gripper_temp == 1 and pump_state == 0:
# disable suction cup
self.swift.set_pump(on=False, wait=True)
print('pump off')
self.gripper_temp = 0
time.sleep(dt)
if lst[1][0] == 0 :
place_B3()
return
if lst[2][2] == 0 :
place_C1()
return
if lst[2][1] == 0 :
place_C2()
return
if lst[2][0] == 0 :
place_C3()
return
from uarm.wrapper import SwiftAPI
swift = SwiftAPI()
swift.set_speed_factor(3)
swift.waiting_ready()
root = tk.Tk()
insert = tk.Tk()
text = tk.Label(insert, text="choose the color of the beginner then close the window")
text.pack()
bb1 = tk.Button(insert, text='blue', command=entry_blue, width = 25)
bb1.pack(side = tk.BOTTOM)
r1 = tk.Button(insert, text='red', command=entry_red, width = 25)
r1.pack(side = tk.BOTTOM)
insert.mainloop()
#define menu options
speed is [0, 100] if version is 4.0+
speed is [0, 100000] if 3.0 < version < 4.0
x (mm) : 150 -> 300
y (mm) : -150 -> 150
z (mm) : 30 -> 150
speed (mm/s?) : 0 -> 100
'''
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
#if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
# swift.set_speed_factor(0.0005)
#set for general mode
swift.set_mode(0)
#LED pin numbers
red = 50
yellow = 45
green = 49
# Author: Vinman <*****@*****.**> <*****@*****.**>
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
"""
multi sync move
"""
swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
# swift3 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift1.waiting_ready()
device_info = swift1.get_device_info()
print(swift1.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
swift1.set_speed_factor(0.00001)
swift2.waiting_ready()
device_info = swift2.get_device_info()
print(swift2.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
swift2.set_speed_factor(0.00001)
swift_list = [swift1, swift2]
class uArmSwift:
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
if not self.swift.connected:
print('lose connect')
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.00005)
self.swift.set_mode(0)
self.speed = 500000
self.swift.set_wrist(angle=90)
self.wristAngle = self.swift.get_servo_angle(0, timeout=10)
def set_position(self, x=100, y=0, z=100, wait=False):
self.swift.set_position(x, y, z, speed=self.speed, wait=wait)
def set_polar(self, stretch, rotation, height, wait=False):
self.swift.set_polar(stretch,
rotation,
height,
speed=self.speed,
wait=wait)
def set_servo_angle(self, num, angle, wait=False):
if num < 0 and num > 3:
print("num is wrong")
self.swift.set_servo_angle(num,
angle,
wait,
speed=self.speed,
wait=wait)
def set_wrist(self, angle=90, wait=False): # 第四电机
self.swift.set_wrist(angle, wait)
def set_pump(self, on=False):
self.swift.set_pump(on)
def set_buzzer(self, freq=1000, duration=1, wait=False):
self.swift.set_buzzer(freq, duration, wait)
def get_position(self):
return self.swift.get_position()
def get_servo_angle(self, id=0):
return self.swift.get_servo_angle(id, timeout=10)
def is_moving(self):
return self.swift.get_is_moving()
def disconnect(self):
self.swift.disconnect()
+z is upwards
speed is [0, 100] if version is 4.0+
speed is [0, 100000] if 3.0 < version < 4.0
x (mm) : 150 -> 300
y (mm) : -150 -> 150
z (mm) : 30 -> 150
speed (mm/s?) : 0 -> 100
'''
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
#if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
# swift.set_speed_factor(0.0005)
#set for general mode
swift.set_mode(0)
'''
swift.reset(wait=True, speed=100000)
swift.set_position(x=200, speed=100000)
swift.set_position(y=100)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
#!/usr/bin/env python3
import time
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.0005)
swift.set_mode(0)
swift.reset(wait=True, speed=10000)
swift.set_position(x=200, speed=10000 * 20)
swift.set_position(y=100)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=200, speed=10000 * 20)
swift.set_polar(rotation=90)
swift.set_polar(height=150)
print(swift.set_polar(stretch=200, rotation=90, height=150, wait=True))
swift.flush_cmd()
def initialize():
global cartesian
test_a = True
test_b = True
data_start() # saving data
#convert cartesian coordinates to polar coordinates
if(cartesian):
print(Fore.BLUE + "Detecting cartesian coordinates, changing to polar")
#test to check converting cartesian to polar
if(test_converting(cartesian)):
print(Fore.GREEN + "TEST OK")
print(Style.RESET_ALL)
else:
print(Fore.RED + "TEST FAILED")
print(Style.RESET_ALL)
#debug outputs
# print(default_stretch)
# print(default_rotation)
# print(default_height)
change_variables_to_polar()
print(Fore.GREEN + "Conversion from cartesian to polar successfull")
print(Style.RESET_ALL)
time.sleep(2)
else:
print(Fore.BLUE + "Default polar coordinates are set")
print(Style.RESET_ALL)
try:
global serial_name
global ser
ser = serial.Serial('/dev/ttyUSB0',115200,timeout=2) #arduino serial
arduino_reset()
print(Fore.BLUE + "Arduino UNO\n")
except:
test_a = False
print(Fore.RED + "FAILED CONNECT TO ARDUINO!")
print(Style.RESET_ALL)
#setting up uArm SwiftPro
try:
global swift
#need to change
sys.path.append(os.path.join(os.path.dirname(__file__), '../uArm-Python-SDK')) #link to uArm SwiftPro python3.x.x library
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=5)
swift.set_mode(0)
device_info = swift.get_device_info()
default_robot_position()
print(Fore.BLUE)
print(device_info)
print("\n")
except:
test_b = False
print(Fore.RED + "FAILED CONNECT TO uArm SwiftPro")
print(Style.RESET_ALL)
if test_a and test_b:
print(Fore.GREEN + "DONE!\n")
print(Style.RESET_ALL)
return
