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()
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
swift1.set_speed_factor(0.00001)
time.sleep(1)
d = {
"A" : 0,
"A#" : 1,
"B" : 2,
"C" : 3,
"C#" : 4,
"D" : 5,
"D#" : 6,
"E" : 7,
"F" : 8,
"F#" : 9,
"G" : 10,
"G#" : 11
}
def freq(sc, pitch):
return 440 * pow(2, ( d[sc] + pitch * 12 ) / 12)
# midiData = pretty_midi.PrettyMIDI('')
swift1.set_buzzer(frequency=freq("C", -1), duration=0.5)
#
# 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: set
"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
swift.set_buzzer(frequency=1000, duration=2, wait=True)
print(swift.set_pump(on=True))
time.sleep(2)
print(swift.set_pump(on=False))
print(swift.set_gripper(catch=True))
time.sleep(2)
print(swift.set_gripper(catch=False))
time.sleep(4)
swift.flush_cmd()
swift.disconnect()
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
class MinionArm:
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 test(self):
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
self.swift.reset(wait=True, speed=self.speed)
self.move(1250, 0, 150, self.speed)
print(self.swift.get_position())
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def home(self):
print("going home")
self.swift.set_position(x=150, y=0, speed=self.speed * 0.5, wait=True)
self.move(145, 0, 100, self.speed * 1.5)
time.sleep(2)
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def rest(self):
print("going to rest position")
self.swift.set_position(x=150, speed=self.speed * 0.5, wait=True)
self.swift.set_position(x=125, y=0, speed=self.speed * 0.5, wait=True)
self.move(125, 0, 40, self.speed * 0.5)
time.sleep(2)
self.swift.set_buzzer(frequency=1000, duration=0.5)
def move(self, x, y, z, speed):
self.swift.set_position(x, y, z, speed, wait=True)
def flip(self):
print("flipping")
# self.home()
self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
if self.board == "right":
self.flip_left()
self.board = "left"
else:
self.flip_right()
self.board = "right"
self.home()
self.swift.set_buzzer(frequency=500, duration=1.0, wait=True)
def flip_left(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
# self.move(220, 10, 140, self.speed*.2)
self.move(220, 40, 150, self.speed * .2)
# self.move(220, 40, 110, self.speed*.2)
# self.move(220, 60, 100, self.speed*.2)
self.move(220, 50, 30, self.speed * .2)
time.sleep(1)
self.move(180, 50, 20, self.speed * .2)
time.sleep(2)
def flip_right(self):
self.move(180, 0, 150, self.speed)
self.move(240, -10, 150, self.speed)
# self.move(220, -20, 140, self.speed*.2)
self.move(220, -40, 150, self.speed * .2)
# self.move(220, -50, 110, self.speed*.2)
# self.move(220, -60, 100, self.speed*.2)
self.move(220, -60, 20, self.speed * .2)
self.move(180, -50, 20, self.speed * .2)
time.sleep(2)
def move_to_galton_cal_pos(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
wait = input("waiting")
self.home()
def disconnect(self):
self.swift.disconnect()
