def handleConnectButton(self):
print('In ConnectButton ')
self.swift = SwiftAPI(dev_port='COM4')
sleep(2)
print(self.swift.get_device_info())
print('set x=150, y=0, z=150')
self.uarmZ = 150
self.uarmX = 150
self.uarmY = 0
self.swift.set_position(x=self.uarmX,
y=self.uarmY,
z=self.uarmZ,
wait=True,
speed=2000)
self.swift.set_gripper(self.gripper)
self.sld1.setValue(self.uarmZ)
self.sldX.setValue(self.uarmX)
self.sldY.setValue(self.uarmY)
self.sld1.setEnabled(True)
self.sldX.setEnabled(True)
self.sldY.setEnabled(True)
self.gripperButton.setEnabled(True)
self.connectButton.setEnabled(False)
def ustart():
global swift
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
swift = SwiftAPI() # {'hwid': 'USB VID:PID=2341:0042'}
sleep(2)
swift.set_position(150, 0, 80, speed=20000, wait=True)
sleep(2)
def __init__(self, dev_port, z_height=180):
self.draw_height = z_height
self.current_map = None
self.running = False
# Set up robot
print("Connecting to robot")
self.swift = SwiftAPI(dev_port=dev_port)
sleep(2)
print("Done Connecting")
self.reset()
def load_material(swift: SwiftAPI, position: dict, amount: int):
amount *= -1
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
# back to normal location (relevant in case of using variables)
dict_args['change_z_by'] = 0
swift.set_position(**dict_args)
# loading material
dict_args = ({'e': amount})
dict_args['wait'] = True
dict_args['relative'] = True
swift.set_position(**dict_args)
dict_args['relative'] = False # default is not relative
# Hovering above
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args[
'change_z_by'] = 0 # back to normal location(relevant in case of using variables)
def main():
logging.info('setup swift ...')
swift = SwiftAPI()
sleep(2)
logging.info('device info: ')
device_info = swift.get_device_info()
logging.info(device_info)
logging.info('firmware version:')
fw_version = tuple(int(number) for number in device_info[2].split('.'))
logging.info(fw_version)
print('set mode to 3D print: %s' % send_cmd_sync_ok(swift, 'M2400 S2'))
print('enable fan: %s' % send_cmd_sync_ok(swift, 'M106'))
print('set temperature units: %s' % send_cmd_sync_ok(swift, 'M149 C'))
# print('temperature hack: %s' % send_cmd_sync_ok(swift, 'M2213 V0'))
print('set hotend to 205: %s' % send_cmd_sync_ok(swift, 'M104 S205'))
print('wait for hotend...')
while True:
sleep(10)
swift.flush_cmd()
temp = send_cmd_sync_ok(swift, 'M105', TEMP_RESPONSE_REGEX)
logging.info("temp is: %s" % temp)
try:
temp = float(temp)
except ValueError:
ValueError("Temp response was not a float: %s" % temp)
if temp > 190:
break
print("retracting extruder...")
response = send_cmd_sync_ok(swift, "G2204 E-60 F200")
logging.debug("response: %s" % response)
while True:
response = send_cmd_sync_ok(swift, "G2204 E-10 F1000")
logging.debug("response: %s" % response)
print('done ...')
while True:
sleep(1)
def creat_swift():
print('setup swift ...')
global swift
#swift = SwiftAPI(dev_port = '/dev/ttyACM0')
#swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
return swift
def init_uarm():
print('setup swift ...')
# port = '/dev/' + [x for x in os.listdir('/dev/') if x.startswith('cu.usbmodem')][0]
# port = '/dev/' + [x for x in os.listdir('/dev/') if x.startswith('ttyA')][0]
# swift = SwiftAPI(dev_port='/dev/cu.usbmodem1421')
# print(port)
# swift = SwiftAPI(dev_port=port)
swift = SwiftAPI()
sleep(2)
# 复位
# swift.set_position(x=60, y=0, z=50, speed=1800, wait=True)
# swift.set_position(x=60, y=0, z=50, speed=1800, wait=False)
# while swift.get_is_moving():
# sleep(0.1)
swift.set_buzzer()
return swift
class MyArm():
def __init__(self, speed=1, logging=False):
self.speed = speed * 10000
self.timout = 20
if logging: logger_init(logging.INFO)
self.robot = SwiftAPI()
time.sleep(2)
def goto(self, x, y, z, wait=False):
print('goto', x, y, z)
self.robot.set_position(x,
y,
z,
speed=self.speed,
timeout=self.timout,
wait=wait,
relative=False)
def step(self, x=None, y=None, z=None, wait=False):
if x is None: x = 0
if y is None: y = 0
if z is None: z = 0
print('goto', x, y, z)
self.robot.set_position(x,
y,
z,
speed=self.speed,
timeout=self.timout,
wait=wait,
relative=True)
def grab(self, value=True):
self.robot.set_pump(value, self.timout)
def mix_material(swift: SwiftAPI, position: dict, amount: int, iterations: int,
ejecting_delta: int, position_for_delta_injection: dict):
# Hovering above
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
# back to normal location (relevant in case of using variables)
dict_args['change_z_by'] = 0
swift.set_position(**dict_args)
for i in range(iterations):
sleep(1)
# loading material
dict_args = {'e': amount * (-1)}
dict_args['wait'] = True
dict_args['relative'] = True
swift.set_position(**dict_args)
# ejecting material
dict_args = {'e': amount + ejecting_delta}
dict_args['wait'] = True
dict_args['relative'] = True
swift.set_position(**dict_args)
dict_args['relative'] = False # default is not relative
# Hovering above
dict_args = position
dict_args['change_z_by'] = 70
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args[
'change_z_by'] = 0 # back to normal location(relevant in case of using variables)
# delta injection
load_material(swift=swift,
amount=iterations * ejecting_delta,
position=position_for_delta_injection)
def main():
print('setup swift ...')
swift = SwiftAPI()
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
movements = [
{
'x': 180,
'y': 180,
'z': 30
},
{
'x': 180,
'y': -180,
'z': 30
},
{
'x': 250,
'y': 0,
'z': 150
},
{
'x': 150,
'y': 0,
'z': 30
},
]
for movement in movements:
print('\nset ' + ' '.join(
["%s%d" % (key.upper(), value)
for key, value in movement.items()]))
swift.set_position(wait=True, **movement)
sleep(0.1)
while swift.get_is_moving():
sleep(0.1)
swift.set_buzzer()
print('done ...')
while True:
sleep(1)
def pick_pipette(swift: SwiftAPI, position: dict):
# Hovering above pipette
dict_args = position
dict_args['wait'] = True
dict_args['change_z_by'] = 50
swift.set_position(**dict_args)
# Acquiring pipette
dict_args['wait'] = True
dict_args['change_z_by'] = 0
swift.set_position(**dict_args)
sleep(1)
# Hovering above pipette
dict_args['wait'] = True
dict_args['change_z_by'] = 90
swift.set_position(**dict_args)
dict_args['change_z_by'] = 0
import sys, os
from time import sleep
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
# from uf.wrapper.uarm_api import UarmAPI
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
print('Start Testing')
swiftPro = SwiftAPI()
sleep(2)
print(swiftPro.get_device_info())
while True:
print('\nset X340 ...')
swiftPro.set_position(340, 0, 150)
print('set X320 ...')
swiftPro.set_position(320, 0, 150)
print('set X300 ...')
swiftPro.set_position(300, 0, 150)
print('set X200 ...')
swiftPro.set_position(200, 0, 150)
print('set X190 ...')
swiftPro.set_position(190, 0, 150)
swiftPro.flush_cmd()
swiftPro.set_buzzer()
print('doneOnce')
sleep(10)
import numpy as np
import time
from time import sleep
import cv2
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.INFO)
SERVO_BOTTOM = 0
SERVO_LEFT = 1
SERVO_RIGHT = 2
SERVO_HAND = 3
arm = SwiftAPI()
sleep(2.0)
position_arr = []
angles_arr = []
'''
Set servo angle, 0 - 180 degrees, this Function will include the manual servo offset.
Args:
servo_id: SERVO_BOTTOM, SERVO_LEFT, SERVO_RIGHT, SERVO_HAND
angle: 0 - 180 degrees
wait: if True, will block the thread, until get response or timeout
Returns:
succeed True or failed False
'''
def main():
logging.basicConfig(format='%(asctime)s %(message)s', level=logging.INFO)
swift = SwiftAPI()
app = tornado.web.Application([('/', MainHandler, dict(swift=swift))])
app.listen(8000)
tornado.ioloop.IOLoop.current().start()
import sys
import numpy as np
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.INFO)
arm = SwiftAPI()
sleep(2.0)
arm.set_position(200, -200, 190, speed=1500, timeout=20)
arm.flush_cmd()
while True:
sleep(1)
from time import sleep
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
#logger_init(logging.VERBOSE)
#logger_init(logging.DEBUG)
logger_init(logging.INFO)
print('setup swift ...')
#swift = SwiftAPI(dev_port = '/dev/ttyACM0')
#swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print('\nset X350 Y0 Z100 F1500 ...')
# for the non-pro swift by current firmware,
# you have to specify all arguments for x, y, z and the speed
swift.set_position(330, 0, 100, speed=1500, timeout=20)
swift.flush_cmd() # avoid follow 5 command timeout
print('\nset X340 ...')
swift.set_position(330, 0, 150, speed=1500)
"""
test_api2.py:
"""
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.VERBOSE)
# logger_init(logging.INFO)
print('setup swift ...')
# swift = SwiftAPI(dev_port='/dev/cu.usbmodem1421')
swift = SwiftAPI()
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
# swift.set_position(x=120,z=80,y=30)
# print('\nset X350 Y0 Z50 F500 ...')
# swift.set_position(350, 0, 50, speed=1500)
swift.set_position(x=300, wait=True)
sleep(3)
import sys, os
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.DEBUG)
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print("Allowing extrusion")
swift.send_cmd_sync("G2203")
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
import tkinter
import os
import sys
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
swift = SwiftAPI() # {'hwid': 'USB VID:PID=2341:0042'}
sleep(2)
swift.set_position(150, 0, 150, speed=20000, timeout=20)
swift.flush_cmd()
sleep(1)
def destructor():
print("[INFO] Beendet...")
swift.flush_cmd()
mainWin.destroy()
def parken():
swift.set_position(120, 0, 40, speed=20000)
uxx.set(120)
uyy.set(0)
uzz.set(40)
uww.set(90)
vlx.set('X=120')
def spectrum_to_string(color):
return "R" + str(int(color[0])) + " G" + str(int(color[1])) + " B" + str(
int(color[2]))
def hex_to_rgb(value):
#value = value.lstrip('#')
lv = len(value)
return tuple(int(value[i:i + lv // 3], 16) for i in range(0, lv, lv // 3))
print('setup swift ...')
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
swift.set_position(190, 0, 50, speed=5000, timeout=20)
swift.flush_cmd() # avoid follow 5 command timeout
sleep(3)
# init the RGB led for pin 4
swift.send_cmd_async("M2305 P4 N1 V1")
randian = 1
sys.path.append('C:\python64\Lib\site-packages')
import tensorflow as tf
import numpy as np
import struct
from fuzzywuzzy import fuzz
import time
from time import sleep
import cv2
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.INFO)
import imutils
cap = cv2.VideoCapture(1)
arm = SwiftAPI()
#array intialization
train_x = []
test_x = []
newang = []
posarray = []
angarray = []
posarray_test = []
angarray_test = []
newbitang = []
removebit = []
bit = []
newbitang_test = []
removebit_test = []
import sys
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
from time import sleep
logger_init(logging.DEBUG)
global swift
try:
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
except: # problem connecting to the arm
print("123")
print("Unexpected error:", sys.exc_info())
exit()
sleep(2)
print("Allowing extrusion")
swift.send_cmd_sync("M302 S0")
for count in range(100):
dict_args = ({'x': 140.32, 'y': (-109), 'z': 0, 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-50), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-60), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-66), 'e': 0})
dict_args['wait'] = True
swift.set_position(**dict_args)
dict_args = ({'x': 140.32, 'y': (-109), 'z': (-66.5), 'e': 0})
"""
解锁电机.py:
"""
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
# logger_init(logging.VERBOSE)
# logger_init(logging.DEBUG)
logger_init(logging.INFO)
print('setup swift ...')
# swift = SwiftAPI(dev_port = '/dev/ttyACM0')
# swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
#
print('开始测试')
swift.set_buzzer()
swift.set_buzzer()
print('解锁电机')
swift.set_servo_detach()
sleep(10)
# (async function () {
# // Reset uArm to its home position.
# await UArm.reset();
# await UArm.set_position({"x": 200, "y": 100, "z": 50});
# }());
#logger_init(logging.DEBUG)
#logger_init(logging.INFO)
import time
import numpy
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.VERBOSE)
swift = SwiftAPI()
time.sleep(2)
positions = numpy.linspace(-200, 200, 5)
swift.set_gripper(True)
time.sleep(5)
swift.set_gripper(False)
class RobotMapper:
BOUNDS = (150, -80, 225, 80)
MOVE_SPEED = 1500
LASER_SPEED = 150
# 180 > 150
def __init__(self, dev_port, z_height=180):
self.draw_height = z_height
self.current_map = None
self.running = False
# Set up robot
print("Connecting to robot")
self.swift = SwiftAPI(dev_port=dev_port)
sleep(2)
print("Done Connecting")
self.reset()
def draw_map(self, map):
""" Resize map and prep for use, then start running"""
map = map.fit_to(self.BOUNDS)
self.current_map = map
self.swift.set_position(150,
0,
self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
for cur_pt, next_pt, pen_down in self.current_map:
if not pen_down: continue
self.draw_line(cur_pt, next_pt)
self.reset()
def draw_line(self, from_pt, to_pt):
# Make sure it's a valid request
if from_pt == to_pt: return
LASER_CMD = "G1 X{} Y{} Z{} F{}"
# Get into the correct position before drawing the linn
cur_pos = self.swift.get_position()[:2]
if cur_pos != from_pt:
print("Moving to", from_pt, "from", cur_pos)
self.swift.set_position(x=from_pt[0],
y=from_pt[1],
z=self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
# Actually draw the line
print("Drawing Line: ", from_pt, to_pt)
to_pt = [int(round(to_pt[0])), int(round(to_pt[1]))]
cmd = LASER_CMD.format(to_pt[0], to_pt[1], self.draw_height,
self.LASER_SPEED)
assert self.swift.send_cmd_sync(
cmd) == "ok", "Unable to send robot to using laser command!"
# Set the position normally, to turn off the laser
self.swift.set_position(x=to_pt[0],
y=to_pt[1],
z=self.draw_height,
speed=self.MOVE_SPEED,
wait=True)
def stop(self):
self.running = False
self.reset()
def reset(self):
""" Put the swift in a resting position """
self.swift.set_polar(s=112,
r=90,
h=67,
speed=self.MOVE_SPEED,
wait=True)
#!/usr/bin/python3
from time import sleep
import datetime, os
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
import json
import cgi, cgitb
print("Content-type: application/json")
print()
form = cgi.FieldStorage()
swift = SwiftAPI()
sleep(2)
swift.set_buzzer()
try:
os.remove("Armstatus.txt")
except OSError:
pass
file = open('Armstatus.txt', 'w')
file.write('True')
file.close()
## Arm move controller
def armmove(x, y, toX, toY):
# global arm_speed
global arm_speed
Note that the coordinate frame turns as the robot turns. Forward and backback should really
be defined in terms of the robots current position and not world x,y and z. But hey, this
works as a demo.
'''
import sys, os
from time import sleep
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
#logger_init(logging.VERBOSE)
#logger_init(logging.DEBUG)
logger_init(logging.INFO)
print('setup swift ...')
#swift = SwiftAPI(dev_port = '/dev/ttyACM0')
#swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
# for the non-pro swift by current firmware,
# you have to specify all arguments for x, y, z and the speed
swift.set_position(220, 320, 100, speed=1500, timeout=20)
]
sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.VERBOSE)
# logger_init(logging.DEBUG)
# logger_init(logging.INFO)
print('setup swift ...')
# swift = SwiftAPI(dev_port = '/dev/ttyACM0')
# swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
sleep(2)
print('\nset X350 Y0 Z50 F500 ...')
swift.set_position(150, -100, 150, wait=True)
sleep(2)
print('\nset X350 Y0 Z50 F500 ...')
swift.set_position(x=280, y=0, z=140, wait=True)
swift.set_buzzer()
sleep(2)
# Arm_Flag = True
armOn = True
orginal_widht, orginal_height = 600, 350
image_widht, image_height = 960, 540
ratio_x, ratio_y = orginal_widht / image_widht, orginal_height / image_height
arm_speed = 30 # max 99
reference_circle = 24.26 #Reference circle diameter (mm)
gurl = "http://192.168.2.120:8080"
url_img = "imge.png"
if (armOn):
# print"Initializing Uarm")
swift = SwiftAPI()
sleep(2)
# swift.set_buzzer()
swift.flush_cmd()
## print"set Uarm position to leftside to start calibration")
## set Uarm to left side
# SwiftAPI().set_buzzer()
swift.set_position(0, 250, 100, 80, relative=False, wait=True)
sleep(1)
# swift.set_position(0, 250, 100, 80, relative=False, wait=True)
# sleep(1)
## Arm move controller
from time import sleep
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
logger_init(logging.DEBUG)
print("retrieveing coords from file")
coords = []
with open("40by40flip.png.coords", 'r') as f:
for line in f:
x, y = line.strip().split(",")
coords.append((float(x), float(y)))
sleep(2)
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
current_liquid = 0
release_step = 0.025
total_liquid = release_step * (len(coords) + 500)
step_proportional = 2
protection_sip = 1.5
starting_x = 164.36
starting_y = -19
printing_z = 28.5
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
