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()
# time.sleep(1)
# print('mv 1')
# swift.set_position(x=0, y=0, z=0, speed=10000*20)
# swift.flush_cmd(wait_stop=True)
# time.sleep(1)
# print('mv 2')
count = 0;
while True:
count = count + 1
seq = seqs[count % len(seqs)]
print(seq);
print(time.time())
# move
swift.set_position(x=pos[X], y=pos[Y] + (-d[seq] * bias), z=pos[Z] + 5, speed=10000000)
# push
swift.set_position(x=pos[X], y=pos[Y] + (-d[seq] * bias), z=pos[Z] - 15, speed=10000000)
# return
swift.set_position(x=pos[X], y=pos[Y] + (-d[seq] * bias), z=pos[Z] + 5, speed=10000000)
swift.flush_cmd()
# while True:
# for seq in seqs:
# # move
# swift.set_position(x=pos[X], y=pos[Y] + (-d[seq] * bias), z=pos[Z] + 5, speed=10000000)
# swift.flush_cmd()
# # push
# swift.set_position(x=pos[X], y=pos[Y] + (-d[seq] * bias), z=pos[Z] - 15, speed=10000000)
# swift.flush_cmd()
class Arm:
def __init__(self):
self.arm = SwiftAPI()
self.arm.reset()
sleep(2)
def rest(self):
self.arm.set_position(x=0,
y=180,
z=146,
wait=True,
timeout=10,
speed=10000)
print("moving to rest pos!")
def correction(self):
print("=================check start!=================\n")
self.arm.set_position(x=227, y=0, z=60, wait=True, speed=10000)
sleep(1)
self.arm.set_position(x=227,
y=0,
z=47,
wait=True,
timeout=10,
speed=10000)
print("check center\n")
sleep(1)
input()
self.arm.set_position(x=292, y=75, z=60, wait=True, speed=10000)
sleep(1)
self.arm.set_position(x=292,
y=75,
z=47,
wait=True,
timeout=10,
speed=10000)
print("check left-up\n")
sleep(1)
input()
self.arm.set_position(x=293, y=-75, z=60, wait=True, speed=10000)
sleep(1)
self.arm.set_position(x=293,
y=-75,
z=47,
wait=True,
timeout=10,
speed=10000)
print("check right-up\n")
sleep(1)
input()
self.arm.set_position(x=160, y=75, z=60, wait=True, speed=10000)
sleep(1)
self.arm.set_position(x=160,
y=75,
z=47,
wait=True,
timeout=10,
speed=10000)
print("check left-down\n")
sleep(1)
input()
self.arm.set_position(x=160, y=-75, z=60, wait=True, speed=10000)
sleep(1)
self.arm.set_position(x=160,
y=-75,
z=47,
wait=True,
timeout=10,
speed=10000)
print("check right-down\n")
sleep(1)
input()
self.arm.set_position(x=0,
y=180,
z=146,
wait=True,
timeout=10,
speed=10000)
print("=================check finish!=================\n")
def move(self, color, coords):
global count
count += 1
if coords == "pass" or coords == "resign":
return None
y, x = coords
y = int(ord(y) - ord('A'))
x = int(x) - 1
if count == 1:
x_take = 309
elif count == 2:
x_take = 280
elif count == 3:
x_take = 254
elif count == 4:
x_take = 223
elif count == 5:
x_take = 200
elif count == 6:
x_take = 170
elif count == 7:
x_take = 144
count = 0
if color == "B":
xp = x_take
yp = -145
zp = 100
elif color == "W":
xp = x_take
yp = 157
zp = 100
else:
print("Wrong color input!")
self.arm.set_position(x=xp, y=yp, z=zp, wait=True, speed=10000)
self.arm.flush_cmd(wait_stop=True)
self.arm.set_position(z=54, wait=True, speed=10000)
sleep(1.5)
self.arm.set_pump(True)
sleep(2)
self.arm.set_position(z=100, wait=True, speed=10000)
self.arm.set_position(x=294 - x * 22,
y=-66 + y * 24,
z=100,
wait=True,
speed=10000)
self.arm.flush_cmd(wait_stop=True)
print("moving to:", coords)
self.arm.set_position(z=54, wait=True,
speed=10000) # original z is -26
sleep(1)
self.arm.set_pump(False)
sleep(0.5)
self.arm.set_position(z=100, wait=True, speed=10000)
sleep(0.5)
self.arm.flush_cmd()
def remove(self, coords, remove_list):
self.arm.set_position(x=1, y=2, z=45, wait=True, speed=10000)
x, y = coords
remove_list
def remove_chess(self, color, coords):
y, x = coords
y = int(y) - 1
x = int(x) - 1
self.arm.set_position(x=294 - x * 22,
y=-66 + y * 24,
z=100,
wait=True,
speed=10000)
self.arm.flush_cmd(wait_stop=True)
self.arm.set_position(z=54, wait=True, speed=10000)
sleep(1.5)
self.arm.set_pump(True)
sleep(2)
print("removing :", coords)
self.arm.set_position(z=100, wait=True, speed=10000)
self.arm.set_position(x=342, y=0, z=90, wait=True, speed=10000)
self.arm.flush_cmd(wait_stop=True)
self.arm.set_pump(False)
sleep(0.5)
def take_photo(self):
self.arm.set_position(x=166,
y=4,
z=220,
wait=True,
timeout=10,
speed=10000)
print("Take Picture place!")
def game_over(self):
self.arm.set_position(x=0,
y=170,
z=100,
wait=True,
timeout=10,
speed=10000)
print("Game over!")
class uArm():
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]
def __del__(self):
input("PLEASE SUPPORT uARM ARM!!, then strike ENTER to continue ...")
self.swift.set_buzzer(frequency=600, duration=2)
self.swift.set_position(x=200,y=0,z=20)
self.swift.flush_cmd()
self.swift.disconnect()
del self.swift
self.swift = None
def arm(self):
"""
Using this method to allow raw access to the uArm if required
"""
return self.swift
def insert_pen(self):
self.swift.set_buzzer(frequency=1000, duration=0.5) # signal ready
self.swift.set_servo_angle(angle=90)
time.sleep(0.5)
self.swift.set_wrist(angle=90)
time.sleep(0.5)
self.swift.set_position(x=200,y=0,z=0)
while (self.swift.get_is_moving()):
continue
input("Set pen in universal holder, then strike ENTER to continue ...")
self.swift.set_position(x=200,y=0,z=10)
return
def pen_up(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 10)
time.sleep(0.5)
return 10
def pen_down(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 0)
time.sleep(0.5)
return 0
def setScope(self, strName):
"""
based upon the length of strName, determine the scope (char width) and starting X, Y positions
assuming that the center of the page is 160,0
x extent is 110 - 210, y extent 80 - (-80) (x axis is PARALLEL to the arm, short edge of the paper)
"""
if type(strName) == str:
strName = strName[:26] # going to truncate user input to a 26 characters max
intLenName = len(strName)
if (intLenName < 4):
self.scope = 40.0 # keeping it real
else:
self.scope = math.floor(160.0/(intLenName * 1.1))
self.x0 = 160 - (0.5 * self.scope)
self.y0 = self.scope * intLenName * 1.1 / 2
return
def LetterSelect(self, c):
"""
given char c, return the plotting function
index 0 resolves to the question mark character
"""
index = 0
if type(c) == str:
if c == ' ':
return self.SpaceBar
else:
c = c.upper()
if c in self.lstValidCharSet:
index = self.lstValidCharSet.index(c) - self.lstValidCharSet.index('A') + 1 # 0th item is '?'
# if c in ['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']:
# index = ord(c) - ord('A') + 1 # using question mark as the 0th index item
return self.lstLetter[index] # return the function to use
('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.0005)
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)
'''
#set_digital_output(pin=None, value=None, wait=True, timeout=None, callback=None)
swift.set_digital_output(pin=50, value=1) # red led
swift.set_digital_output(pin=49, value=0) # green led
swift.flush_cmd()
i = 0
while i < 5:
swift.set_polar(stretch=150, speed=100000)
swift.set_polar(rotation=90)
swift.set_polar(height=80)
print(swift.set_polar(stretch=150, rotation=90, height=80, wait=True))
swift.flush_cmd()
swift.set_polar(stretch=150, speed=100000)
swift.set_polar(rotation=90)
swift.set_polar(height=120)
print(swift.set_polar(stretch=150, rotation=90, height=120, wait=True))
swift.flush_cmd()
