def robotic_work():
init()
number_objects = len(coordinate)
print(number_objects, coordinate)
for rounds in range(number_objects):
x = coordinate[rounds]
color = COLOR_s[rounds]
pun.Control('COM4', buarate, speed).Graper(40)
time.sleep(1)
pun.Control('COM4', buarate, speed).setReady()
time.sleep(1)
pun.Control('COM4', buarate, speed).gotoJoint(x[0], x[1], x[2], x[3],
45)
time.sleep(2)
pun.Control('COM4', buarate, speed).Graper(f_grap)
time.sleep(2)
pun.Control('COM4', buarate, speed).setReady()
time.sleep(2)
if (color == 'Green'):
pun.Control('COM4', buarate, speed).gotoJoint(90, 5, -55, -90, 45)
if (color == 'Red'):
pun.Control('COM4', buarate, speed).gotoJoint(-90, 5, -55, -90, 45)
time.sleep(2)
pun.Control('COM4', buarate, speed).Graper(15)
time.sleep(2)
pun.Control('COM4', buarate, speed).setReady()
time.sleep(1)
def actions_ready(self):
buadrate = self.text_br.text()
comport = self.text_port.text()
speed = self.text_speed.text()
speed = int((int(speed) / 100) * 255)
if(speed >255):speed = 255
pun.Control(comport,buadrate,speed).setReady()
print("Ready Start",buadrate,comport)
def actions_ungrap(self):
buadrate = self.text_br.text()
comport = self.text_port.text()
speed = self.text_speed.text()
speed = int((int(speed) / 100) * 255)
if(speed >255):speed = 255
pun.Control(comport,buadrate,speed).Graper(20)
print("grap Start",buadrate,comport)
def actions_home(self):
buadrate = self.text_br.text()
comport = self.text_port.text()
speed = self.text_speed.text()
speed = int((int(speed) / 100) * 255)
if(speed >255):speed = 255
pun.Control(comport,buadrate,speed).gotoHome()
print("Home Start",buadrate,comport)
def gotoHome(event):
try:
port = entry_port.get()
bps = int(entry_bps.get())
speed = int(entry_speed.get())
pun.Control(port, bps, speed).gotoHome()
except:
print(" ")
def readyPosition(event):
try:
port = entry_port.get()
bps = int(entry_bps.get())
speed = int(entry_speed.get())
pun.Control(port, bps, speed).setReady()
except:
print(" ")
def grapOff(event):
try:
port = entry_port.get()
bps = int(entry_bps.get())
speed = int(entry_speed.get())
pun.Control(port, bps, speed).Graper(30)
except:
print(" ")
def actions_rotate_hand(self):
angle = int(self.text_rt.text())
buadrate = self.text_br.text()
comport = self.text_port.text()
speed = self.text_speed.text()
speed = int((int(speed) / 100) * 255)
if(speed >255):speed = 255
pun.Control(comport,buadrate,speed).Rotate_hnad(angle)
print("grap Start",buadrate,comport)
def run(self):
#t1 = Thread (target=chang.getImage)
t2 = Thread (target=self.robotic_work)
result = False
pun.Control(self.comport,self.buarate,self.speed).gotoHome()
while(1):
if(result == False):
result = self.robotic_work()
else:
break
def actions_manual(self):
angle = int(self.text_rt.text())
buadrate = self.text_br.text()
comport = self.text_port.text()
speed = self.text_speed.text()
speed = int((int(speed) / 100) * 255)
if(speed >255):speed = 255
pos_x = int(self.text_x.text())
pos_y = int(self.text_y.text())
pos_z = int(self.text_z.text())
x = readCSV.getPositons(pos_x,pos_y,pos_z)
pun.Control(comport,buadrate,speed).gotoJoint(x[0],x[1],x[2],x[3],angle)
print("Manual Start",buadrate,comport,pos_x,pos_y,pos_z)
def gotoPoint(event):
try:
port = entry_port.get()
bps = int(entry_bps.get())
speed = int(entry_speed.get())
x_cor = int(entry_x.get())
y_cor = int(entry_y.get())
z_cor = int(entry_z.get())
q0, q1, q2, q3 = Arm.fw_kinematic(x_cor, y_cor, z_cor).findPositions()
theta = Label(root,
text=str(q0) + "\t" + str(q1) + "\t" + str(q2) + "\t" +
str(q3) + " ").grid(row=2, column=4)
pun.Control(port, bps, speed).gotoJoint(q0, q1, q2, q3, 45)
except:
theta = Label(root,
text="Try agian ! I's out more range ").grid(
row=2, column=4)
def init():
pun.Control('COM4', buarate, speed).gotoHome()
objects = chang.getImage()
number_objects = len(objects)
print(number_objects)
for i in range(number_objects):
positions_x = objects[i][1]
positions_y = objects[i][0]
color = objects[i][2]
x = (positions_x / 10) + 12
y = ((positions_y * -1) / 10) + 25.6
z = 2
y = y - 5
x = Arm.fw_kinemtic(x, y, z).findPositions()
coordinate.append((x))
COLOR_s.append(color)
import cv2
import Arm
import pun
import time
import chang
chang.getImage()
chang.processImage()
x, y = chang.calculateDistance()
x = x + 11
y = y - 3
pun.Control('COM15', 1000000, 100).setReady()
pun.Control('COM15', 1000000, 100).Graper(27)
time.sleep(1)
Q0, Q1, Q2, Q3 = Arm.fw_kinematic(x, y, 2).findPositions()
Q4, Q5, Q6, Q7 = Arm.fw_kinematic(0, 20, 3).findPositions()
pun.Control('COM15', 1000000, 100).gotoJoint(Q0, Q1, Q2, Q3, 45)
time.sleep(3)
pun.Control('COM15', 1000000, 100).Graper(-15)
time.sleep(1)
pun.Control('COM15', 1000000, 100).setReady()
time.sleep(2)
pun.Control('COM15', 1000000, 100).gotoJoint(Q4, Q5, Q6, Q7, 45)
time.sleep(3)
pun.Control('COM15', 1000000, 100).Graper(20)
time.sleep(1)
pun.Control('COM15', 1000000, 100).setReady()
time.sleep(3)
def robotic_work(self):
self.find_oj()
result_fb = True
number_objects = len(self.coordinate)
print(number_objects,self.coordinate)
for rounds in range(number_objects):
x = self.coordinate[rounds]
color = self.COLOR_s[rounds]
type_ob = self.fake[rounds]
pun.Control(self.comport,self.buarate,self.speed).Graper(35)
time.sleep(1)
pun.Control(self.comport,self.buarate,self.speed).setReady()
time.sleep(1)
pun.Control(self.comport,self.buarate,self.speed).gotoJoint(x[0],x[1],x[2],x[3],45)
time.sleep(2)
pun.Control(self.comport,self.buarate,self.speed).Graper(self.f_grap)
time.sleep(2)
pun.Control(self.comport,self.buarate,self.speed).setReady()
time.sleep(2)
chang.get_image_feedback()
feed_back_pic = cv2.imread("data/feed_back.jpg",0)
feed_back_pic = feed_back_pic[10:62,61:78]
y =[]
for i in range(feed_back_pic.shape[0]):
for j in range(feed_back_pic.shape[1]):
y.append(feed_back_pic[i][j])
value_detect =sum(y) / (feed_back_pic.shape[0] * feed_back_pic.shape[1])
if(value_detect <= 150):
print("Have" + str(value_detect))
result_fb = True
# if( color == 'Green'):pun.Control(self.comport,self.buarate,self.speed).gotoJoint(90,5,-55,-90,45)
#if( color == 'Red'):pun.Control(self.comport,self.buarate,self.speed).gotoJoint(-90,5,-55,-90,45)
if( type_ob == 'Tester'):pun.Control(self.comport,self.buarate,self.speed).gotoJoint(90,5,-55,-90,45)
if( type_ob == 'Termarind'):pun.Control(self.comport,self.buarate,self.speed).gotoJoint(-90,5,-55,-90,45)
if( type_ob == 'Can'):pun.Control(self.comport,self.buarate,self.speed).gotoJoint(0,5,-55,-90,45)
time.sleep(2)
pun.Control(self.comport,self.buarate,self.speed).Graper(20)
time.sleep(2)
pun.Control(self.comport,self.buarate,self.speed).setReady()
time.sleep(1)
else:
print("dont Have"+ str(value_detect))
result_fb = False
pun.Control(self.comport,self.buarate,self.speed).gotoHome()
break
self.coordinate = []
self.COLOR_s = []
return result_fb
