def move_to(self, x=None, y=None, z=None, check=False, translate=True):
"""
Move to an absolute cartesian coordinate
:param x: Cartesian millimeter of the X axis, if None then uses current position
:param y: Cartesian millimeter of the Y axis, if None then uses current position
:param z: Cartesian millimeter of the Z axis, if None then uses current position
:param check: If True, asks the connected uArm device if the target coordinate is within its range of movement
:return: self
"""
logger.debug('move_to: x={0}, y={1}, z={2}'.format(x, y, z))
if not self._enabled:
self.enable_all_motors()
new_pos = self._pos.copy()
if x is not None:
new_pos['x'] = x
if y is not None:
new_pos['y'] = y
if z is not None:
new_pos['z'] = z
new_pos = round_position(new_pos)
if translate:
real_pos = self._remove_z_offset(new_pos)
else:
real_pos = new_pos.copy()
if not self.is_simulating():
if check and not self.can_move_to(**real_pos):
raise RuntimeError(
'Coordinate not reachable by uArm: {0}'.format(new_pos))
speed_mm_per_min = self._speed * 60
self.set_position(relative=False, speed=speed_mm_per_min, **real_pos)
self._pos = new_pos.copy()
return self
def update_position(self, check=False):
"""
Retrieve the current XYZ coordinate position from the connected uArm device
:return: self
"""
logger.debug('update_position')
if self.is_simulating():
return self
pos = self.get_position(wait=True)
is_n = pos is None
is_l = isinstance(pos, list)
if is_n or not is_l or not len(pos) or not isinstance(pos[0], float):
logger.debug('Not able to read position, out of bounds')
return self
new_pos = round_position(self._apply_z_offset({
'x': pos[0],
'y': pos[1],
'z': pos[2]
}))
distance = 0
check = check and self._enabled # no need to check if motors are disabled
if check:
old_pos = self._pos.copy()
distance, _, _ = cartesian_to_polar(
**subtract_positions(new_pos, old_pos))
self._pos = new_pos
if check and distance > UARM_SKIPPED_DISTANCE_THRESHOLD:
raise RuntimeError(
'Detected {0}mm skipped: target={1} - actual={2}'.format(
round(distance, 1), old_pos, new_pos))
logger.debug('New Position: {0}'.format(self._pos))
return self
def can_move_relative(self, x=None, y=None, z=None):
logger.debug('can_move_relative: x={0}, y={1}, z={2}'.format(x, y, z))
new_pos = self._pos.copy()
if x is not None:
new_pos['x'] = x + new_pos['x']
if y is not None:
new_pos['y'] = y + new_pos['y']
if z is not None:
new_pos['z'] = z + new_pos['z']
new_pos = round_position(new_pos)
return self.can_move_to(**new_pos)
def can_move_to(self, x=None, y=None, z=None):
logger.debug('can_move_to: x={0}, y={1}, z={2}'.format(x, y, z))
if self.is_simulating():
return True # no way to test during simulation
new_pos = self._pos.copy()
if x is not None:
new_pos['x'] = x
if y is not None:
new_pos['y'] = y
if z is not None:
new_pos['z'] = z
new_pos = round_position(new_pos)
# Send coordinates to uArm to see if they are within the limit.
# This must be done on the device itself, because of it's weird
# coordinate system and load-carrying ability at different positions.
new_pos = self._remove_z_offset(new_pos)
unreachable = self.check_pos_is_limit(list(new_pos.values()))
return not bool(unreachable)
def move_relative(self, x=None, y=None, z=None, check=False):
"""
Move to a relative cartesian coordinate, away from it's current coordinate
:param x: Cartesian millimeter of the X axis, if None then uses current position
:param y: Cartesian millimeter of the Y axis, if None then uses current position
:param z: Cartesian millimeter of the Z axis, if None then uses current position
:param check: If True, asks the connected uArm device if the target coordinate is within its range of movement
:return: self
"""
logger.debug('move_relative: x={0}, y={1}, z={2}'.format(x, y, z))
rel_pos = self._pos.copy()
if x is not None:
rel_pos['x'] = x + self._pos['x']
if y is not None:
rel_pos['y'] = y + self._pos['y']
if z is not None:
rel_pos['z'] = z + self._pos['z']
rel_pos = round_position(rel_pos)
# using only absolute movements, because accelerations do not seem to take
# affect when using relative movements (not sure if firmware or API issue)
self.move_to(check=check, **rel_pos)
return self
