def do_connect(self, arg):
"""
connect, Open uArm Port, if more than one uArm Port found, will prompt options to choose.
Please connect to uArm before you do any control action
"""
if self.uarm is None:
ports = uarm_ports()
if len(ports) > 1:
uarm_port = get_uarm_port_cli()
try:
self.uarm = pyuarm.uArm(uarm_port)
except pyuarm.UnknownFirmwareException:
print(
"Unknown Firmware, please use {}{}uarm-firmware -upgrade{}{} to your firmware"
.format(Back.BLACK, Fore.WHITE, Fore.RESET,
Back.RESET))
elif len(ports) == 1:
self.uarm = pyuarm.uArm()
elif len(ports) == 0:
print("No uArm ports is found.")
else:
if self.uarm.is_connected():
print("uArm is already connected, port: {}".format(
self.uarm.port))
else:
if self.uarm.reconnect():
print("uArm port: {} is reconnected")
def __init__(self, uarm=None, log_function=None):
if uarm is not None:
self.uarm = uarm
elif len(uarm_ports()) > 0:
self.uarm = get_uarm()
else:
raise NoUArmPortException('No available uArm Founds')
if log_function is not None:
self.log_function = log_function
else:
self.log_function = self.default_log
self.servo_calibrate_timeout = 300
self.is_all_calibrated = False
self.is_linear_calibrated = False
self.is_manual_calibrated = False
self.is_stretch_calibrated = False
def __init__(self, uarm=None, log_function=None):
if uarm is not None:
self.uarm = uarm
elif len(uarm_ports()) > 0:
self.uarm = get_uarm()
else:
raise NoUArmPortException('No available uArm Founds')
if log_function is not None:
self.log_function = log_function
else:
self.log_function = self.default_log
self.servo_calibrate_timeout = 300
self.is_all_calibrated = False
self.is_linear_calibrated = False
self.is_manual_calibrated = False
self.is_stretch_calibrated = False
def do_connect(self, arg):
"""
connect, Open uArm Port, if more than one uArm Port found, will prompt options to choose.
Please connect to uArm before you do any control action
"""
if self.uarm is None:
ports = uarm_ports()
if len(ports) > 1:
uarm_port = get_uarm_port_cli()
try:
self.uarm = pyuarm.uArm(uarm_port)
except pyuarm.UnknownFirmwareException:
print(("Unknown Firmware, please use {}{}uarm-firmware -upgrade{}{} to your firmware"
.format(Back.BLACK, Fore.WHITE,Fore.RESET, Back.RESET)))
elif len(ports) == 1:
self.uarm = pyuarm.uArm()
elif len(ports) == 0:
print ("No uArm ports is found.")
else:
if self.uarm.is_connected():
print(("uArm is already connected, port: {}".format(self.uarm.port)))
else:
if self.uarm.reconnect():
print ("uArm port: {} is reconnected")
def get_uarm_port(self):
uarm_list = uarm_ports()
if len(uarm_list) > 0:
self.uarm_port = uarm_list[0]
else:
print "No uArm is connected."
def get_uarm_port(self):
uarm_list = uarm_ports()
if len(uarm_list) > 0:
self.uarm_port = uarm_list[0]
else:
print "No uArm is connected."
def get_uarm_port():
uarm_list = uarm_ports()
if len(uarm_list) > 0:
return uarm_list[0]
else:
print "No uArm is connected."