def run(self):
while self.alive:
try:
ports = get_ports(filters={'hwid': 'USB VID:PID=2341:0042'})
for port in ports:
if port['device'] not in swifts.keys():
new_swift = SwiftAPI(port=port['device'])
new_swift.waiting_ready()
device_info = new_swift.get_device_info()
print(new_swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
new_swift.set_speed_factor(0.00001)
new_swift.set_mode(mode=0)
with lock:
swifts[port['device']] = new_swift
else:
swift = swifts[port['device']]
if not swift.connected:
with lock:
swifts.pop(port['device'])
except Exception as e:
pass
time.sleep(0.001)
def Arm_Init():
"""Robotic arm initiation"""
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
swift.waiting_ready()
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.00005)
swift.set_mode(0)
return swift
def run(self):
while self.alive:
try:
ports = get_ports(filters={'hwid': 'USB VID:PID=2341:0042'})
for port in ports:
if port['device'] not in swifts.keys():
new_swift = SwiftAPI(port=port['device'])
new_swift.waiting_ready()
device_info = new_swift.get_device_info()
print(new_swift.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')):
new_swift.set_speed_factor(0.00001)
new_swift.set_mode(mode=0)
with lock:
pos = [150, 0, 150]
for swift in swifts.values():
swift.flush_cmd()
if len(swifts.values()) > 0:
time.sleep(1)
for swift in swifts.values():
pos = swift.get_position()
if isinstance(pos, list):
# print('sync pos:', pos)
break
# new_swift.reset(speed=speed)
swifts[port['device']] = new_swift
for swift in swifts.values():
swift.set_position(x=pos[0], y=pos[1], z=pos[2], speed=speed, wait=False)
for swift in swifts.values():
if swift.connected:
swift.flush_cmd(wait_stop=True)
# if len(swifts) > 1:
# time.sleep(3)
else:
swift = swifts[port['device']]
if not swift.connected:
with lock:
swifts.pop(port['device'])
except Exception as e:
pass
time.sleep(0.001)
class uarm:
def __init__(self):
logger.setLevel(logger.VERBOSE)
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
callback_thread_pool_size=1)
self.swift.waiting_ready()
self.swift.set_speed_factor(factor=20)
self.swift.set_position(x=239.43, y=0, z=170)
def jump(self, press_time):
self.swift.set_position(x=239.43, y=0, z=-30)
print("robot:%f" % press_time)
time.sleep(press_time)
self.swift.set_position(x=239.43, y=0, z=170)
# if __name__ == '__main__':
# arm = uarm()
# arm.jump(0.75)
# time.sleep(5)
# arm.jump(0.75)
#!/usr/bin/env python3
import time
from uarm.wrapper import SwiftAPI
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
device_info = swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift.set_speed_factor(0.0005)
swift.set_mode(0)
swift.reset(wait=True, speed=10000)
swift.set_position(x=200, speed=10000 * 20)
swift.set_position(y=100)
swift.set_position(z=100)
swift.flush_cmd(wait_stop=True)
swift.set_polar(stretch=200, speed=10000 * 20)
swift.set_polar(rotation=90)
swift.set_polar(height=150)
print(swift.set_polar(stretch=200, rotation=90, height=150, wait=True))
swift.flush_cmd()
class uArmSwift:
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'},
cmd_pend_size=2,
callback_thread_pool_size=1)
if not self.swift.connected:
print('lose connect')
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.00005)
self.swift.set_mode(0)
self.speed = 500000
self.swift.set_wrist(angle=90)
self.wristAngle = self.swift.get_servo_angle(0, timeout=10)
def set_position(self, x=100, y=0, z=100, wait=False):
self.swift.set_position(x, y, z, speed=self.speed, wait=wait)
def set_polar(self, stretch, rotation, height, wait=False):
self.swift.set_polar(stretch,
rotation,
height,
speed=self.speed,
wait=wait)
def set_servo_angle(self, num, angle, wait=False):
if num < 0 and num > 3:
print("num is wrong")
self.swift.set_servo_angle(num,
angle,
wait,
speed=self.speed,
wait=wait)
def set_wrist(self, angle=90, wait=False): # 第四电机
self.swift.set_wrist(angle, wait)
def set_pump(self, on=False):
self.swift.set_pump(on)
def set_buzzer(self, freq=1000, duration=1, wait=False):
self.swift.set_buzzer(freq, duration, wait)
def get_position(self):
return self.swift.get_position()
def get_servo_angle(self, id=0):
return self.swift.get_servo_angle(id, timeout=10)
def is_moving(self):
return self.swift.get_is_moving()
def disconnect(self):
self.swift.disconnect()
from uarm.wrapper import SwiftAPI
import random
swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift1.waiting_ready()
device_info = swift1.get_device_info()
print(swift1.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift1.set_speed_factor(0.00001)
swift2.waiting_ready()
device_info = swift2.get_device_info()
print(swift2.port, device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
swift2.set_speed_factor(0.00001)
X = 0
Y = 1
Z = 2
R = 3
swift1.set_servo_detach()
swift1.register_report_position_callback(lambda position: swift2.set_position(
x=position[X], y=position[Y], z=position[Z], speed=100000000, timeout=1))
from uarm.wrapper import SwiftAPI
print("アームロボットと接続を開始...")
swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
swift.waiting_ready(timeout=3)
swift.set_speed_factor(100)
swift.set_mode(0)
print("アームロボットと接続完了 \n")
place_B3()
return
if lst[2][2] == 0 :
place_C1()
return
if lst[2][1] == 0 :
place_C2()
return
if lst[2][0] == 0 :
place_C3()
return
from uarm.wrapper import SwiftAPI
swift = SwiftAPI()
swift.set_speed_factor(3)
swift.waiting_ready()
root = tk.Tk()
insert = tk.Tk()
text = tk.Label(insert, text="choose the color of the beginner then close the window")
text.pack()
bb1 = tk.Button(insert, text='blue', command=entry_blue, width = 25)
bb1.pack(side = tk.BOTTOM)
r1 = tk.Button(insert, text='red', command=entry_red, width = 25)
r1.pack(side = tk.BOTTOM)
insert.mainloop()
#define menu options
menu = tk.Menu(root)
class uarmRobotClass(object):
def __init__(self):
self.x_pos = 0
self.y_pos = 0
self.tcp_rot = 0
self.z_pos = 0
self.pick = 0
self.connect = 0
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
self.swift.set_speed_factor(0.5)
self.swift.waiting_ready(timeout=3)
self.swift.disconnect()
def openPort(self):
self.swift.connect()
#swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
self.swift.set_speed_factor(0.5)
self.swift.waiting_ready(timeout=3)
self.swift.set_position(150, 0, 50, wait=True)
def closePort(self):
self.swift.disconnect()
self.swift.waiting_ready(timeout=3)
def move(self):
Index = 0
pick = 0
connect = 0
while True:
if (dummy == False) and (connect == 0) and (self.connect == 1):
self.openPort()
ret = self.swift.get_position(wait=True)
print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2]))
x_pos = ret[0]
y_pos = ret[1]
tcp_rot = ret[2]
print("connected")
connect = 1
if (dummy == False) and (connect == 1) and (self.connect == 0):
self.closePort()
connect = 0
print("disconnnected")
if (self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0) or (self.pick != 0) or (self.connect != 0):
if logLevel > 1:
print("index = %d: x_pos = %d; y_pos = %d; z_pos = %d; tcp_rot = %d; pick = %d; connect = %d" % (Index, self.x_pos, self.y_pos, self.z_pos, self.tcp_rot, self.pick, self.connect))
Index = Index + 1
if (dummy == False) and (connect == 1) and ((self.x_pos != 0) or (self.y_pos != 0) or (self.tcp_rot != 0) or (self.z_pos != 0)):
self.swift.set_position(x=self.x_pos, y=self.y_pos, z=self.z_pos, wait=True, relative=True);
ret = self.swift.get_position(wait=True)
if logLevel > 0:
print("ret values %d, %d, %d" % (ret[0], ret[1], ret[2]))
if (dummy == False) and (pick == 0) and (self.pick != 0):
self.swift.set_pump(on=True)
pick = 1
if (dummy == False) and (pick == 1) and (self.pick == 0):
self.swift.set_pump(on=False)
pick = 0
time.sleep(0.001);
from uarm.wrapper import SwiftAPI
swift = SwiftAPI()
swift.waiting_ready(timeout=10)
swift.set_position(140, 0, 10, wait=True)
swift.set_position(320, 0, 10, wait=True)
swift.set_position(140, 0, 10, wait=True)
swift.set_speed_factor(4)
input(
"now the speed of the arm has been multiply by 4, it will move faster. press enter to continue"
)
swift.set_position(140, 0, 10, wait=True)
swift.set_position(320, 0, 10, wait=True)
swift.set_position(140, 0, 10, wait=True)
swift.set_speed_factor(1)
T = 2
dt = 0.01 # best we can get: 0.01
N = int(T / dt)
#swift.set_servo_angle(servo_id=0, angle=90)
##time.sleep(3)
#swift.set_servo_angle(servo_id=1, angle=90)
##time.sleep(3)
#swift.set_servo_angle(servo_id=2, angle=0)
##time.sleep(3)
#swift.set_servo_angle(servo_id=3, angle=90)
swift.reset()
time.sleep(3)
swift.set_speed_factor(2)
'''generate configs'''
joint_angles = np.zeros((N, 5))
for i in range(N):
joint_angles[i, :] = np.array(
[90, 90 - 90 / T * dt * i, 90 / T * dt * i, 90, 0])
# step motor step?
for i in range(N):
swift.set_servo_angle(servo_id=0, angle=joint_angles[i, 0])
# time.sleep(dt/4)
swift.set_servo_angle(servo_id=1, angle=joint_angles[i, 1])
# time.sleep(dt/4)
swift.set_servo_angle(servo_id=2, angle=joint_angles[i, 2])
# time.sleep(dt/4)
class MinionArm:
def __init__(self):
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.swift.waiting_ready()
device_info = self.swift.get_device_info()
print(device_info)
firmware_version = device_info['firmware_version']
if firmware_version and not firmware_version.startswith(
('0.', '1.', '2.', '3.')):
self.swift.set_speed_factor(0.0005)
self.speed = 110000
self.test()
self.board = "right"
def test(self):
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
self.swift.reset(wait=True, speed=self.speed)
self.move(1250, 0, 150, self.speed)
print(self.swift.get_position())
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def home(self):
print("going home")
self.swift.set_position(x=150, y=0, speed=self.speed * 0.5, wait=True)
self.move(145, 0, 100, self.speed * 1.5)
time.sleep(2)
# self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
def rest(self):
print("going to rest position")
self.swift.set_position(x=150, speed=self.speed * 0.5, wait=True)
self.swift.set_position(x=125, y=0, speed=self.speed * 0.5, wait=True)
self.move(125, 0, 40, self.speed * 0.5)
time.sleep(2)
self.swift.set_buzzer(frequency=1000, duration=0.5)
def move(self, x, y, z, speed):
self.swift.set_position(x, y, z, speed, wait=True)
def flip(self):
print("flipping")
# self.home()
self.swift.set_buzzer(frequency=1000, duration=0.5, wait=True)
if self.board == "right":
self.flip_left()
self.board = "left"
else:
self.flip_right()
self.board = "right"
self.home()
self.swift.set_buzzer(frequency=500, duration=1.0, wait=True)
def flip_left(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
# self.move(220, 10, 140, self.speed*.2)
self.move(220, 40, 150, self.speed * .2)
# self.move(220, 40, 110, self.speed*.2)
# self.move(220, 60, 100, self.speed*.2)
self.move(220, 50, 30, self.speed * .2)
time.sleep(1)
self.move(180, 50, 20, self.speed * .2)
time.sleep(2)
def flip_right(self):
self.move(180, 0, 150, self.speed)
self.move(240, -10, 150, self.speed)
# self.move(220, -20, 140, self.speed*.2)
self.move(220, -40, 150, self.speed * .2)
# self.move(220, -50, 110, self.speed*.2)
# self.move(220, -60, 100, self.speed*.2)
self.move(220, -60, 20, self.speed * .2)
self.move(180, -50, 20, self.speed * .2)
time.sleep(2)
def move_to_galton_cal_pos(self):
self.move(180, 0, 150, self.speed)
self.move(240, 0, 150, self.speed)
wait = input("waiting")
self.home()
def disconnect(self):
self.swift.disconnect()