def __init__(self, num_grippers=1, comport='/dev/ttyUSB0', baud=115200):
assert num_grippers in [1, 2]
try:
self.ser = serial.Serial(comport, baud, timeout=0.2)
except:
self.init_success = False
return
self._gripper = [GripperIO(i) for i in range(num_grippers)]
self._num_grippers = num_grippers
self.init_success = True
self._shutdown_driver = False
def __init__(self, num_grippers=1, comport='/dev/ttyUSB1', baud=115200):
try:
self.ser = serial.Serial(comport, baud, timeout=0.2)
except:
self.init_success = False
return
self._gripper = []
self._num_grippers = num_grippers
for i in range(self._num_grippers):
self._gripper.append(GripperIO(i))
self.init_success = True
self._shutdown_driver = False
def __init__(self, num_grippers=1, movo_ip='10.66.171.5', rcv_timeout=0.1):
self._shutdown_driver = False
self._rcv_timeout = rcv_timeout
"""
Create the thread to run MOVO Linear actuator command interface
"""
self.tx_queue_ = multiprocessing.Queue()
self.rx_queue_ = multiprocessing.Queue()
self.comm = IoEthThread((movo_ip, 6238),
self.tx_queue_,
self.rx_queue_,
max_packet_size=R85_PACKET_SIZE_BYTES)
self._gripper = []
self._num_grippers = num_grippers
for i in range(self._num_grippers):
self._gripper.append(GripperIO(i))
self.init_success = True