def pre_procedure(client):
"""Pre fabrication setup, speed, acceleration, tool, work object and initial pose.
Uses ``fab_conf`` set up using
:func:`compas_rcf.fab_data.interactive_conf_setup` for fabrication settings.
Parameters
----------
client : :class:`compas_rrc.AbbClient`
Client connected to controller procedure should be sent to.
"""
grip_and_release(
client,
fab_conf["tool"]["io_needles_pin"].get(),
fab_conf["tool"]["release_state"].get(),
wait_before=fab_conf["tool"]["wait_before_io"].get(),
wait_after=fab_conf["tool"]["wait_after_io"].get(),
)
client.send(SetTool(fab_conf["tool"]["tool_name"].as_str()))
log.debug("Tool {} set.".format(fab_conf["tool"]["tool_name"].get()))
client.send(SetWorkObject(fab_conf["wobjs"]["placing_wobj_name"].as_str()))
log.debug("Work object {} set.".format(
fab_conf["wobjs"]["placing_wobj_name"].get()))
# Set Acceleration
client.send(
SetAcceleration(
fab_conf["speed_values"]["accel"].as_number(),
fab_conf["speed_values"]["accel_ramp"].as_number(),
))
log.debug("Acceleration values set.")
# Set Max Speed
client.send(
SetMaxSpeed(
fab_conf["speed_values"]["speed_override"].as_number(),
fab_conf["speed_values"]["speed_max_tcp"].as_number(),
))
log.debug("Speed set.")
# Initial configuration
client.send(
MoveToJoints(
fab_conf["safe_joint_positions"]["start"].get(),
EXTERNAL_AXIS_DUMMY,
fab_conf["movement"]["speed_travel"].as_number(),
fab_conf["movement"]["zone_travel"].get(ZoneDataTemplate()),
))
log.debug("Sent move to safe joint position")
def pre_procedure(self):
"""Pre fabrication setup, speed, acceleration, tool, work object and initial pose.
Uses ``fab_conf`` set up using
:func:`compas_rcf.fab_data.interactive_conf_setup` for fabrication settings.
Parameters
----------
client : :class:`compas_rrc.AbbClient`
Client connected to controller procedure should be sent to.
"""
# for safety
self.retract_needles()
self.send(SetTool(self.pick_place_tool.name))
log.debug("Tool {} set.".format(self.pick_place_tool.name))
self.send(SetWorkObject(self.wobjs.place))
log.debug("Work object {} set.".format(self.wobjs.place))
# Set Acceleration
self.send(
SetAcceleration(self.global_speed_accel.accel,
self.global_speed_accel.accel_ramp))
log.debug("Acceleration values set.")
# Set Max Speed
self.send(
SetMaxSpeed(
self.global_speed_accel.speed_override,
self.global_speed_accel.speed_max_tcp,
))
log.debug("Speed set.")
# Initial configuration
self.send(
MoveToJoints(
self.set_joint_pos.start,
self.EXTERNAL_AXIS_DUMMY,
self.speed.travel,
self.zone.travel,
))
log.debug("Sent move to safe joint position")
def go_to_joint_pos(args: argparse.Namespace) -> None:
"""Send instruction to go to joint position.
Parameters
----------
args : :class:`argparse.Namespace`
"""
selection_instructions = {
"Calibration position": CALIBRATION_JOINT_POSITION,
"Travel position": TRAVEL_JOINT_POSITION,
}
compose_up_driver(args.controller)
selection = questionary.select(
"Select joint position to go to", selection_instructions.keys()
).ask()
log.debug(f"{selection} selected.")
with AbbRcfClient(ros_port=9090) as client:
client.ensure_connection()
client.send(SetAcceleration(ACCEL, ACCEL_RAMP))
client.send(SetMaxSpeed(SPEED_OVERRIDE, SPEED_MAX_TCP))
client.confirm_start()
log_msg = f"Moving to {selection.lower()}."
client.send(PrintText(log_msg))
log.info(log_msg)
client.send(
MoveToJoints(
selection_instructions[selection],
client.EXTERNAL_AXES_DUMMY,
SPEED,
ZONE,
)
)
def std_move_to_frame(
frame,
tool="tool0",
wobj="wobj0",
motion_type=Motion.LINEAR,
speed=200,
accel=100,
zone=Zone.FINE,
timeout=None,
):
"""Move robot arm to target or targets.
Parameters
----------
frame : :class:`compas.geometry.Frame` or :obj:`list` of :class:`compas.geometry.Frame`
Target frame or frames.
tool : :obj:`str`
Name of tool as named in RAPID code on controller to use for TCP data.
wobj : :obj:`str`
Name of work object as named in RAPID code on controller to use for
coordinate system.
motion_type : :class:`compas_rrc.Motion`
Motion type, either linear (:class:`~compas_rrc.Motion.LINEAR`) or
joint (:class:`~compas_rrc.Motion.JOINT`).
speed : :obj:`float`
TCP speed in mm/s. Limited by hard coded max speed in this function as
well as safety systems on controller.
accel : :obj:`float`
Acceleration in percentage of standard acceleration.
zone : :class:`compas_rrc.Zone`
Set zone value of movement, (acceptable deviation from target).
timeout : :obj:`float`
Time to wait for indication of finished movement. If not defined no
feedback will be requested.
""" # noqa: E501
if not isinstance(frame, Sequence):
frames = [frame]
else:
frames = frame
with RosClient() as ros:
# Create ABB Client
abb = AbbClient(ros)
abb.run(timeout=5)
abb.send(SetTool(tool))
abb.send(SetWorkObject(wobj))
# Set acceleration data
ramp = 100 # % Higher values makes the acceleration ramp longer
abb.send(SetAcceleration(accel, ramp))
# Set speed override and max speed
speed_override = 100 # %
max_tcp_speed = 500 # mm/s
abb.send(SetMaxSpeed(speed_override, max_tcp_speed))
# Move to Frame
for f in frames:
abb.send(
PrintText(" Moving to {:.3f}, {:.3f}, {:.3f}.".format(
*f.point.data)))
abb.send(MoveToFrame(f, speed, zone, motion_type))
if timeout:
abb.send_and_wait(Noop(), timeout=timeout)