def __init__(self, context): self.context = context self.flag = True self.needToRetract = False self.draw_back_guidewire_curcuit_flag = True self.guidewireProgressMotor = OrientalMotor(20, 21, True) self.guidewireRotateMotor = MaxonMotor(2, "EPOS2", "MAXON SERIAL V2", "USB", "USB0", 1000000) self.catheterMotor = OrientalMotor(14, 15, True) self.angioMotor = OrientalMotor(23, 24, False) self.gripperFront = Gripper(7) self.gripperBack = Gripper(8) self.infraredReflectiveSensor = InfraredReflectiveSensor() self.dispatchTask = threading.Thread(None, self.listening) #self.dispatchTask.start() self.cptt = 0 self.global_state = 0
def __init__(self): #Instances self.gripper = Gripper() self.m = SendMove() self.t = tf.TransformListener() self.armPose = "" #Subscribers rospy.Subscriber("/tf", TFMessage, self.getToolTF) rospy.Subscriber("tool_velocity", TwistStamped, self.getToolVelocity) #Open gripper self.gripper.moveGripper("Open") #Go to initial position self.m.sendMove(self.m.buildMove('j', '', self.m.getPos('test3'))) self.waitForArm()
number = int(message[2:-1]) print("Command: " + mess + " Number: " + str(number)) if __name__ == '__main__': mes = "Q" num = 0 # Makes sure the script is run as sudo. if not os.geteuid() == 0: sys.exit("\nMust be root to run this script!\n") # Set up the USB Connection to the Arduino usb_options = ['/dev/ttyUSB0', '/dev/ttyUSB1', '/dev/ttyUSB2'] usb_options = filter(os.path.exists, usb_options) assert (len(usb_options) == 1) # Exist if no usb connection. usb_port = usb_options[0] # Open the communication thread. print("Communication Thread Started.") communication_motor = tcp_server_motor(usb_port) communication_motor.start() # Set up and start gripper thread. /--- EXPERIMENTAL ---/ print("Gripper Thread Started.") pheeno_gripper = Gripper() communication_gripper = threading.Thread(target=myGripper.gripperMove, args=(servo, angle)) communication_gripper.start()
#!/usr/bin/env micropython from DriveTrain import DriveTrain from Gripper import Gripper import time driveTrain = DriveTrain() gripper = Gripper() gripper.lowerMotor(30) driveTrain.driveToLine(-20, 8, ["Green", "Blue"], ["Black", "Brown"]) driveTrain.driveForward(-40, 13) driveTrain.turnAngle(-20, 90) driveTrain.followLine(-20, 9, ["Black", "Brown"], 10) driveTrain.driveForward(-40, -40) driveTrain.driveForward(-20, -5) time.sleep(3) driveTrain.followLine(-20, 10, ["Black", "Brown"], 40) driveTrain.turnAngle(20, 180) driveTrain.driveToLine(-20, 10, ["Black", "Brown"],["Black", "Brown"]) gripper.lowerMotor(-30) driveTrain.driveForward(20, 10)
def __init__(self, context, local_mode=0): self.context = context # --------------------------------------------------------------------------------------------- # initialisation # --------------------------------------------------------------------------------------------- self.flag = True self.cptt = 0 self.global_state = 0 self.needToRetract = False self.draw_back_guidewire_curcuit_flag = True self.number_of_cycles = 0 # --------------------------------------------------------------------------------------------- # execution units of the interventional robot # --------------------------------------------------------------------------------------------- self.guidewireProgressMotor = OrientalMotor(20, 21, True) self.guidewireRotateMotor = OrientalMotor(19, 26, True) self.catheterMotor = OrientalMotor(17, 27, True) self.angioMotor = OrientalMotor(23, 24, False) self.gripperFront = Gripper(7) self.gripperBack = Gripper(8) # --------------------------------------------------------------------------------------------- # sensors # --------------------------------------------------------------------------------------------- self.infraredReflectiveSensor = InfraredReflectiveSensor() # --------------------------- # feedback # --------------------------- self.forcefeedback = Feedback("/dev/ttyUSB1", 9600, 8, 'N', 1) self.torquefeedback = Feedback("/dev/ttyUSB0", 9600, 8, 'N', 1) # --------------------------------------------------------------------------------------------- # EmergencySwitch # --------------------------------------------------------------------------------------------- self.switch = EmergencySwitch() self.emSwitch = 1 self.lastSwitch = 0 self.em_count = 0 # --------------------------------------------------------------------------------------------- # speed parameters # --------------------------------------------------------------------------------------------- self.speedProgress = 1000 self.speedRotate = 60 self.speedCatheter = 10 self.rotateTime = 180 / self.speedRotate self.pos_speed = 5 self.position_cgf = 2 self.position_cgb = -100 # --------------------------------------------------------------------------------------------- # real time task to parse commandes in context # --------------------------------------------------------------------------------------------- self.dispatchTask = threading.Thread( None, self.do_parse_commandes_in_context) self.dispatchTask.start() self.aquirefeedbackTask = threading.Thread(None, self.aquirefeedback_context) self.aquirefeedbackTask.start()
import time import serial import socket import os.path import sys from Gripper import Gripper myGripper = Gripper() PORT = '12345' usbOptions = ['/dev/ttyUSB0', '/dev/ttyUSB1', '/dev/ttyUSB2'] usbOptions = filter(os.path.exists, usbOptions) assert (len(usbOptions) == 1) usbPort = usbOptions[0] s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.bind(('0.0.0.0', 12345)) s.listen(1) client, _ = s.accept() while True: myGripper.gripperMove(3, 100, 0.1) try: usb = serial.Serial(usbPort, 9600, timeout=10) usb.open() time.sleep(2) # give the serial time to get opened except serial.SerialException: print("Could not connect to requested port") time.sleep(1) continue while True: