def moveRandom():
SERVO_BOTTOM = 0
SERVO_LEFT = 1
SERVO_RIGHT = 2
SERVO_HAND = 3
position_arr = []
pixel_position = []
angles_arr = []
arm = SwiftAPI()
sleep(2.0)
rand = np.random.rand(3)
angles = rand * 180
print("angles are", angles)
arm.flush_cmd()
arm.reset()
arm.set_servo_angle_speed(SERVO_RIGHT,
angles[0],
wait=True,
timeout=100,
speed=5000)
arm.set_servo_angle_speed(SERVO_BOTTOM,
angles[1],
wait=True,
timeout=100,
speed=5000)
arm.set_servo_angle_speed(SERVO_LEFT,
angles[2],
wait=True,
timeout=100,
speed=5000)
a = arm.get_is_moving()
print("the status is", a, "\n")
pos = arm.get_position(
) # float array of the format [x, y, z] of the robots current location
cap = cv2.VideoCapture(0)
cap1 = cv2.VideoCapture(0)
red = detect_w_avg(cap, 600, 166, 84, 80, 286, 255, 255, "red")
print("red", red)
blue = detect_w_avg(cap1, 600, 97, 100, 117, 117, 255, 255, "blue")
print("blue", blue)
pixel_position.append(red)
pixel_position.append(blue)
cv2.destroyAllWindows()
cap.release()
cap1.release()
# pixelpostion= get the pixel position here
print("the position is ", pos, "\n")
position_arr.append(pos)
angles = angles.tolist()
angles_arr.append(angles) # [right bottom left]
sleep(2.0)
return angles, pixel_position
def moveRandom():
SERVO_BOTTOM = 0
SERVO_LEFT = 1
SERVO_RIGHT = 2
SERVO_HAND = 3
position_arr=[]
angles_arr=[]
arm = SwiftAPI()
sleep(2.0)
rand = np.random.rand(3)
angles = rand * 180
print("angles are", angles)
arm.flush_cmd()
arm.reset()
arm.set_servo_angle_speed(SERVO_RIGHT, angles[0], wait=True, timeout=100, speed=5000)
arm.set_servo_angle_speed(SERVO_BOTTOM, angles[1], wait=True, timeout=100, speed=5000)
arm.set_servo_angle_speed(SERVO_LEFT, angles[2], wait=True, timeout=100, speed=5000)
a = arm.get_is_moving()
print("the status is", a, "\n")
pos = arm.get_position() # float array of the format [x, y, z] of the robots current location
# pixelpostion= get the pixel position here
print("the position is ", pos, "\n")
position_arr.append(pos)
angles = angles.tolist()
angles_arr.append(angles) # [right bottom left]
sleep(2.0)
def main():
logging.info('setup swift ...')
swift = SwiftAPI()
sleep(2)
logging.info('device info: ')
device_info = swift.get_device_info()
logging.info(device_info)
logging.info('firmware version:')
fw_version = tuple(int(number) for number in device_info[2].split('.'))
logging.info(fw_version)
print('set mode to 3D print: %s' % send_cmd_sync_ok(swift, 'M2400 S2'))
print('enable fan: %s' % send_cmd_sync_ok(swift, 'M106'))
print('set temperature units: %s' % send_cmd_sync_ok(swift, 'M149 C'))
# print('temperature hack: %s' % send_cmd_sync_ok(swift, 'M2213 V0'))
print('set hotend to 205: %s' % send_cmd_sync_ok(swift, 'M104 S205'))
print('wait for hotend...')
while True:
sleep(10)
swift.flush_cmd()
temp = send_cmd_sync_ok(swift, 'M105', TEMP_RESPONSE_REGEX)
logging.info("temp is: %s" % temp)
try:
temp = float(temp)
except ValueError:
ValueError("Temp response was not a float: %s" % temp)
if temp > 190:
break
print("retracting extruder...")
response = send_cmd_sync_ok(swift, "G2204 E-60 F200")
logging.debug("response: %s" % response)
while True:
response = send_cmd_sync_ok(swift, "G2204 E-10 F1000")
logging.debug("response: %s" % response)
print('done ...')
while True:
sleep(1)
orginal_widht, orginal_height = 600, 350
image_widht, image_height = 960, 540
ratio_x, ratio_y = orginal_widht / image_widht, orginal_height / image_height
arm_speed = 30 # max 99
reference_circle = 24.26 #Reference circle diameter (mm)
gurl = "http://192.168.2.120:8080"
url_img = "imge.png"
if (armOn):
# print"Initializing Uarm")
swift = SwiftAPI()
sleep(2)
# swift.set_buzzer()
swift.flush_cmd()
## print"set Uarm position to leftside to start calibration")
## set Uarm to left side
# SwiftAPI().set_buzzer()
swift.set_position(0, 250, 100, 80, relative=False, wait=True)
sleep(1)
# swift.set_position(0, 250, 100, 80, relative=False, wait=True)
# sleep(1)
## Arm move controller
def armmove(x, y, toX, toY):
# swift = SwiftAPI()
# sleep(2)
#swift = SwiftAPI(dev_port = '/dev/ttyACM0')
#swift = SwiftAPI(filters = {'hwid': 'USB VID:PID=2341:0042'})
swift = SwiftAPI() # default by filters: {'hwid': 'USB VID:PID=2341:0042'}
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
print('\nset X350 Y0 Z100 F1500 ...')
# for the non-pro swift by current firmware,
# you have to specify all arguments for x, y, z and the speed
swift.set_position(330, 0, 100, speed=1500, timeout=20)
swift.flush_cmd() # avoid follow 5 command timeout
print('\nset X340 ...')
swift.set_position(330, 0, 150, speed=1500)
print('set X320 ...')
swift.set_position(320, 0, 150, speed=1500)
print('set X300 ...')
swift.set_position(300, 0, 150, speed=1500)
print('set X200 ...')
swift.set_position(200, 0, 150, speed=1500)
print('set X190 ...')
swift.set_position(190, 0, 150, speed=1500)
# wait all async cmd return before send sync cmd
swift.flush_cmd()
angle: 0 - 180 degrees
wait: if True, will block the thread, until get response or timeout
Returns:
succeed True or failed False
'''
for _ in range(100):
rand = np.random.rand(3)
angles = rand * 180
print("angles are", angles)
arm.flush_cmd()
arm.reset()
arm.set_servo_angle_speed(SERVO_RIGHT,
angles[0],
wait=True,
timeout=100,
speed=5000)
arm.set_servo_angle_speed(SERVO_BOTTOM,
angles[1],
wait=True,
timeout=100,
speed=5000)
arm.set_servo_angle_speed(SERVO_LEFT,
import sys, os
from time import sleep
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
# from uf.wrapper.uarm_api import UarmAPI
from uf.wrapper.swift_api import SwiftAPI
from uf.utils.log import *
print('Start Testing')
swiftPro = SwiftAPI()
sleep(2)
print(swiftPro.get_device_info())
while True:
print('\nset X340 ...')
swiftPro.set_position(340, 0, 150)
print('set X320 ...')
swiftPro.set_position(320, 0, 150)
print('set X300 ...')
swiftPro.set_position(300, 0, 150)
print('set X200 ...')
swiftPro.set_position(200, 0, 150)
print('set X190 ...')
swiftPro.set_position(190, 0, 150)
swiftPro.flush_cmd()
swiftPro.set_buzzer()
print('doneOnce')
sleep(10)
# #Moves the robot to position
# def setposition(ax,ay,az,ispump):
# mov_status = swift.set_position(ax , ay, az, speed, relative=False, wait=True)
# sleep(1)
# if(mov_status == True):
# pos=swift.get_position()
# swift.set_pump(ispump)
# sleep(1)
# reset(not ispump)
# else:
# print("Robot Arm movement Unavailable.Kindly give valid coordinates")
swift = SwiftAPI()
swift.set_buzzer()
swift.flush_cmd() #Flushes the UARM buffer and makes it empty
def picQuarter(x, y):
#sleep(3)
#pos = swift.get_position() #Gets the current position of UARM
print("PIC QUARTER$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$")
print(x)
print(y)
print("Moving to the position")
swift.set_position(x, y, 70, 60, relative=False, wait=True)
sleep(1)
print("Moving head")
