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 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)
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()
# time.sleep(1)
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()
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
swift.set_position(x=150,
y=150,
z=150,
speed=move_speed,
wait=True,
timeout=10,
cmd='G0')
# print( swift.get_position() )
# print( swift.get_servo_angle() )
# print( swift.send_cmd_sync('P2243') )
while True:
swift.set_position(x=400,
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')
@sio.event
async def connect():
print('connected to server')
#
# 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))
count += 1
if count == 1000000:
count = 1
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
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 uart:
available_pixel = {} #rgb values of all the paints
swift = None #robot arm object
device_info = None
firmware_version = None
image = None #image you're trying to paint
canvas = None #image of the canvas as you're working on it
canvas_corners = None #points of the four corners of the canvas (in robot arm coords)
ptransform = None #contains the warped image of
M = None #transformation matrix
xScale = None
yScale = None
#
# __init__
# im = the image you're trying to paint
# pixels = the dictionary of colors you have access to
# initialized = a list of booleans determining which values you will initialize
# [ True = available_pixel uses pixels parameter otherwise use defaults,
# True = set swift to SwiftAPI object otherwise set them to None,
# True = set image to a blank white 200x200 image,
# True = calibrate canvas_corners using setFourCorners otherwise set to a preset
# True = set ptransform using the webcam
# ]
#
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!")
#
# new xy to xyz function using algebra/geometry
#
def xy_to_xyz2(self, xy):
#print("xy", xy)
#print("xscale", self.xScale)
#print("yscale", self.yScale)
out = np.add(np.multiply(xy[0],self.xScale) + np.multiply(xy[1],self.yScale), self.canvas_corners[0])
print(out)
return out
#
# GET SCALE
#
def get_scale(self, pix, corners):
dif = np.subtract(corners[0], corners[1])
return -(dif/pix)
#
# HEAT MAP
#
def generate_heatmap(self):
image = self.image.astype(dtype='int32')
canvas = self.ptransform.warped.astype(dtype='int32')
subtraction = np.subtract(image,canvas)
print(subtraction)
heatmap = np.full(im.shape,255, dtype='uint8')
print(heatmap.shape)
for i in range(subtraction.shape[0]):
for j in range(subtraction.shape[1]):
if (subtraction[i][j] < 0):
heatmap[i][j][0] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
elif (subtraction[i][j] > 0):
heatmap[i][j][2] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
return heatmap
#
# GETS CLOSEST COLOR
#
def get_closest_color(self, chosen_pixel):
available_pixel = self.available_pixel
distances = []
for key, value in available_pixel.items():
a1 = np.asarray(value)
c1 = np.asarray(chosen_pixel)
curr_dist = np.linalg.norm(a1 - c1)
distances += [curr_dist]
if(curr_dist == min(distances)):
curr_key = key
return curr_key
#
# move_to_file
#
def move_to_file(self, filename):
var = []
count = 0
lines = open(filename, "r").read().split('\n')
x,y,z,f,angle = 0
moveArm,moveWrist = False
for i in range(len(lines)):
for word in lines[i].split(' '):
if(word is 'G0'):
moveArm = True
if(word[0] is 'X'):
x = float(word[1:])
elif(word[0] is 'Y'):
y = float(word[1:])
elif(word[0] is 'Z'):
z = float(word[1:])
elif(word[0] is 'F'):
f = float(word[1:])
elif(word is 'WA'):
moveWrist = True
angle = float(word[1:])
if(moveArm):
self.swift.set_position(x=x, y=y, z=z, speed =f, cmd = "G0")
moveArm = False
time.sleep(1)
if(moveWrist):
self.swift.set_wrist(angle)
moveWrist = False
time.sleep(1)
coordinates.close()
#
# SETTING FOUR CORNERS
#
def setFourCorners(self):
speed_s = 10000
delay = 1
cmd_s = 'G0'
todo = 4
coords = [[], [], [], []]
while todo >0:
key = input()
if key == "tr":
newCoord = self.swift.get_position()
coords[1] = newCoord
todo -= 1
print("Top right coordinate saved as ", newCoord)
elif key == "tl":
newCoord = self.swift.get_position()
coords[0] = newCoord
todo -= 1
print("Top left coordinate saved as", newCoord)
elif key == "bl":
newCoord = self.swift.get_position()
coords[2] = newCoord
todo -= 1
print("Bottom left coordinate saved as", newCoord)
elif key == "br":
newCoord = self.swift.get_position()
coords[3] = newCoord
todo -= 1
print("Bottom right coodirnate saved as", newCoord)
return coords
#
# SAVED COORDS TO FILE
#
def saveCoordsToFile(self, fn):
delay = 1
coords = []
while True:
key = input()
if key == "save":
newCoord = swift.get_position()
coords.append(newCoord)
print("New coordinate saved as" + str(newCoord))
elif key == "done":
break
elif key.isdigit():
coords.append(int(key))
if os.path.exists(fn + ".uar"):
os.remove(fn + ".uar")
file = open(fn + ".uar", "w+")
for c in coords:
if not check(c):
file.write("G0 X%f Y%f Z%f F5000\n" %(c[0], c[1], c[2]))
else:
self.set_wrist(c)
file.write("WA " %(c))
coordinates.close()
moveTo(fn + ".uar")
return coords
def check(inp):
try:
num_float = float(inp)
return True
except:
return False
#
# GET M
#
def get_m(self, width, height):
A = np.transpose(self.canvas_corners)
print(A)
B = [[0,0,1],[width,0,1],[0,height,1],[width,height,1]]
B = np.transpose(B)
print(B)
pinvB = np.linalg.pinv(B)
print(pinvB)
M = np.matmul(A, np.linalg.pinv(B))
print(M)
return M
#
# xytoxyz
#
def xy_to_xyz(self,xy):
xyz = [xy[0],xy[1],1]
xyz = np.transpose(xyz)
return np.matmul(self.M,xyz)
#
# go to position
#
def go_to_position(self, xyz, f):
print('going to : ', xyz)
self.swift.set_position(x=xyz[0], y=xyz[1], z=xyz[2], speed = f, cmd = "G0")
#: time.sleep(1)
#
# draw a line
#
# start and end: [x,y]
def draw_line(self, start, end):
startxyz = self.xy_to_xyz2(start)
endxyz = self.xy_to_xyz2(end)
start_pre = [startxyz[0]-20, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-20, endxyz[1], endxyz[2]]
print("going to start pre")
self.go_to_position(start_pre, 10000)
print("going to start")
self.go_to_position(startxyz, 5000)
print("going to end")
self.go_to_position(endxyz, 5000)
print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
#
def draw_line2(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
start_pre = [startxyz[0]-5, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-5, endxyz[1], endxyz[2]]
#print("going to start pre")
self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
#print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
# does NOT go to pre and post painting position
#
def draw_line3(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
#print("going to start pre")
#self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready()
ret = swift.get_power_status()
print('power status: {}'.format(ret))
ret = swift.get_device_info()
print('device info: {}'.format(ret))
ret = swift.get_limit_switch()
print('limit switch: {}'.format(ret))
ret = swift.get_gripper_catch()
print('gripper catch: {}'.format(ret))
ret = swift.get_mode()
print('mode: {}'.format(ret))
print('set mode:', swift.set_mode(1))
ret = swift.get_mode()
print('mode: {}'.format(ret))
ret = swift.get_servo_attach(servo_id=2)
print('servo attach: {}'.format(ret))
ret = swift.get_servo_angle()
print('servo angle: {}'.format(ret))
def print_callback(ret, key=None):
print('{}: {}'.format(key, ret))
swift.get_polar(wait=False, callback=functools.partial(print_callback, key='polar'))
swift.get_position(wait=False, callback=functools.partial(print_callback, key='position'))
swift.flush_cmd()
