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 connect(self):
try:
self.myuArm = pyuarm.uArm(debug=True)
print self.myuArm
except:
print "Couldn't get a connection to the uArm"
return
def get_uarm_version(self):
if self.uarm_port is not None or self.uarm_port != "":
print "Reading Firmware version from uArm..."
try:
uarm = pyuarm.uArm(port=self.uarm_port)
self.uarm_firmware_version = uarm.firmware_version
uarm.disconnect()
except pyuarm.UnkwonFirmwareException:
print "Unknown Firmware version."
except pyuarm.NoUArmPortException:
print "No uArm is connected."
def get_uarm_version(self):
if self.uarm_port is not None or self.uarm_port != "":
print "Reading Firmware version from uArm..."
try:
uarm = pyuarm.uArm(port=self.uarm_port)
self.uarm_firmware_version = uarm.firmware_version
uarm.disconnect()
except pyuarm.UnkwonFirmwareException:
print "Unknown Firmware version."
except pyuarm.NoUArmPortException:
print "No uArm is connected."
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():
"""
===============================
Get First uArm Port instance
===============================
It will return the first uArm Port detected by **pyuarm.tools.list_uarms**,
If no available uArm ports, will print *There is no uArm port available*
.. raw:python
>>> import pyuarm
>>> uarm = pyuarm.get_uarm()
There is no uArm port available
:returns: uArm() Instance
"""
ports = uarm_ports()
if len(ports) > 0:
return pyuarm.uArm(port=ports[0])
else:
print("There is no uArm port available")
def get_uarm():
"""
===============================
Get First uArm Port instance
===============================
It will return the first uArm Port detected by **pyuarm.tools.list_uarms**,
If no available uArm ports, will print *There is no uArm port available*
.. raw:python
>>> import pyuarm
>>> uarm = pyuarm.get_uarm()
There is no uArm port available
:returns: uArm() Instance
"""
ports = uarm_ports()
if len(ports) > 0:
return pyuarm.uArm(port=ports[0])
else:
print("There is no uArm port available")
return None
import pyuarm
import time
arm = pyuarm.uArm()
if not arm.is_connected():
raise SystemExit()
#fetch card position, at the table
fetchCard = [-0.71, -9.72, 8.7]
#home position
home = [-1.49, -10.03, 18.9]
time_spend = 5
arm.move_to(home[0], home[1], home[2], None, pyuarm.ABSOLUTE, time_spend,
pyuarm.PATH_LINEAR, pyuarm.INTERP_EASE_INOUT_CUBIC)
#INTERP_EASE_INOUT_CUBIC, INTERP_LINEAR, INTERP_EASE_INOUT, INTERP_EASE_IN, INTERP_EASE_OUT
arm.move_to(fetchCard[0], fetchCard[1], fetchCard[2], None, pyuarm.ABSOLUTE,
time_spend, pyuarm.PATH_LINEAR, pyuarm.INTERP_EASE_INOUT_CUBIC)
#time.sleep(0.1)
arm.pump_control(1)
arm.move_to(home[0], home[1], home[2], None, pyuarm.ABSOLUTE, time_spend,
pyuarm.PATH_LINEAR, pyuarm.INTERP_EASE_INOUT_CUBIC)
arm.pump_control(0)
