from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
for m in ms.motors:
m.status_return_level = 1
time.sleep(0.1)
ms.compliant = True
time.sleep(0.1)
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
#ms.zero_pose = stem.zero_pose
#ms.angle_ranges = stem.angle_ranges
def observe_max_angles():
max_angles = [[float('inf'), float('-inf')] for _ in ms.motors]
start = time.time()
while time.time()-start < 60.0:
max_angles = [[min(lb, p), max(hb, p)] for (lb, hb), p in zip(max_angles, ms.pose)]
print(', '.join(gfx.ppv(ma) for ma in max_angles))
ms.max_torque = 100
ms.ccw_angle_limit = 150
ms.cw_angle_limit = -150
from __future__ import division, print_function
import sys
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
for m in ms.motors:
print(m.ram_desc())
uid = dovecot.stem_uid()
pose = [float(sys.argv[i + 1]) for i in range(6)]
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac,
load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
timeout=10,
verbose=True)
ms.zero_pose = stem.zero_pose
ms.moving_speed = 100
ms.max_torque = 100
ms.torque_limit = 100
ms.pose = pose
time.sleep(2.0)
print("pos: [{}]".format(', '.join('{:.1f}'.format(p) for p in ms.pose)))
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac,
load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
#ms.zero_pose = stem.zero_pose
#ms.angle_ranges = stem.angle_ranges
def observe_max_angles():
max_angles = [[float('inf'), float('-inf')] for _ in ms.motors]
start = time.time()
while time.time() - start < 60.0:
max_angles = [[min(lb, p), max(hb, p)]
for (lb, hb), p in zip(max_angles, ms.pose)]
print(', '.join(gfx.ppv(ma) for ma in max_angles))
from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
import dotdot
import dovecot
from dovecot.ext import powerswitch
from dovecot.stemsim import stemcfg
uid = dovecot.stem_uid()
pose = [float(sys.argv[i + 1]) for i in range(6)]
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, timeout=10, verbose=True)
ms.zero_pose = stem.zero_pose
ms.moving_speed = 100
ms.max_torque = 100
ms.torque_limit = 100
ms.pose = pose
time.sleep(2.0)
print("pos: [{}]".format(", ".join("{:.1f}".format(p) for p in ms.pose)))
import dotdot
import dotdot
import dovecot
from dovecot.ext import powerswitch
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=stem.motorid_range,
verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
def go_to(ms, pose, margin=10.0, timeout=5.0):
start = time.time()
ms.pose = pose
while (time.time() - start < timeout and
max(abs(p - tg)
for p, tg in zip(ms.pose, pose) if tg is not None) > 10):
time.sleep(0.1)
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
def go_to(ms, pose, margin=10.0, timeout=5.0):
start = time.time()
ms.pose = pose
while (time.time() - start < timeout and
max(abs(p - tg) for p, tg in zip(ms.pose, pose) if tg is not None) > 10):
time.sleep(0.1)
if max(abs(p-0.0) for p in ms.pose[3:]) > 10.0:
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id,
motor_range=(0, 253),
timeout=10,
verbose=True)
def change(id_change):
for m in ms.motors:
if m.id == id_change[0]:
print("changing id of motor {} to {}".format(*id_change))
m.id = id_change[1]
time.sleep(1.0)
#change((1, 13))
#change((52, 11))
from __future__ import division, print_function
import sys
import time
from dovecot.ext.pydyn import MotorSet
import dotdot
import dovecot
from dovecot.stemsim import stemcfg
if len(sys.argv) >= 2:
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.compliant = False
ms.pose = ms.pose
ms.torque_limit = 50
time.sleep(1.0)
uid = int(sys.argv[1])
else:
uid = dovecot.stem_uid()
stem = stemcfg.stems[uid]
stem.cycle_usb()
ps = powerswitch.Eps4m(mac_address=stemcfg.stems[stem.uid].powerswitch_mac, load_config=True)
ps_port = stemcfg.stems[stem.uid].powerswitch
if ps.is_off(ps_port):
ps.set_on(ps_port)
time.sleep(1)
while ps.is_restarting(ps_port):
time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
ms.zero_pose = stem.zero_pose
ms.angle_limits = stem.angle_limits
ms.compliant = False
time.sleep(0.1)
ms.moving_speed = 100
ms.torque_limit = 50
rest_pose = [5.3, 96.3, -97.8, 0.6, -46.5, -10]
ms.pose = rest_pose
while max(abs(p - tg) for p, tg in zip(ms.pose, rest_pose)) > 10:
time.sleep(0.1)
