def main():
print('setup swift ...')
swift = SwiftAPI()
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
movements = [
{
'x': 180,
'y': 180,
'z': 30
},
{
'x': 180,
'y': -180,
'z': 30
},
{
'x': 250,
'y': 0,
'z': 150
},
{
'x': 150,
'y': 0,
'z': 30
},
]
for movement in movements:
print('\nset ' + ' '.join(
["%s%d" % (key.upper(), value)
for key, value in movement.items()]))
swift.set_position(wait=True, **movement)
sleep(0.1)
while swift.get_is_moving():
sleep(0.1)
swift.set_buzzer()
print('done ...')
while True:
sleep(1)
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)
#logger_init(logging.VERBOSE)
#logger_init(logging.DEBUG)
logger_init(logging.INFO)
print('setup swift ...')
#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)
vlz = tkinter.StringVar()
vlw = tkinter.StringVar()
uxx.set(150)
uyy.set(0)
uzz.set(150)
uww.set(90)
vlx.set('X=150')
vly.set('Y=0')
vlz.set('Z=150')
vlw.set('W=90')
info = tkinter.Label(
mainFrame,
text=swift.get_device_info(),
font=("Helvetica", 11),
)
#info = tkinter.Label(mainFrame, text = 'xxxx xxxx xxxx xxxx xxxx',font=("Helvetica", 16),)
info.grid(column=2, row=20, columnspan=4)
ux = tkinter.Scale(mainFrame,
orient=tkinter.VERTICAL,
length=350,
from_=110,
to=350,
variable=uxx,
command=get_slider,
label='x Achse',
resolution=0.5)
ux.grid(column=0, row=1, rowspan=40)
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)
def main():
print('setup swift ...')
swift = SwiftAPI()
sleep(2)
print('device info: ')
device_info = swift.get_device_info()
print(device_info)
print('firmware version:')
fw_version = tuple(int(number) for number in device_info[2].split('.'))
print(fw_version)
fw_has_b_angles = (fw_version >= (3, 1, 16))
print('EEPROM Values: ')
print('-> reference_angle_value:')
# in uArmParams.h
# define EEPROM_ON_CHIP 0
# define EEPROM_REFERENCE_VALUE_ADDR 800
# define EEPROM_REFERENCE_VALUE_B_FLAG_ADDR 818
# define EEPROM_REFERENCE_VALUE_B_ADDR 820
# define DATA_TYPE_BYTE 1
# define DATA_TYPE_INTEGER 2
#
# in uArmCalibration.cpp
# uint8_t reference_angle_flag =
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_REFERENCE_VALUE_B_FLAG_ADDR, DATA_TYPE_BYTE);
# reference_angle_value[X_AXIS] =
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_REFERENCE_VALUE_ADDR, DATA_TYPE_INTEGER);
# reference_angle_value[Y_AXIS] =
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_REFERENCE_VALUE_ADDR+2, DATA_TYPE_INTEGER);
# reference_angle_value[Z_AXIS] =
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_REFERENCE_VALUE_ADDR+4, DATA_TYPE_INTEGER);
reference_angle_flag = 0
if fw_has_b_angles:
reference_angle_flag = send_cmd_sync_ok(swift, 'M2211 N0 A818 T1')
reference_angle_value = []
reference_angle_addr = 800
if reference_angle_flag:
reference_angle_addr = 820
for offset in range(0, 6, 2):
reference_angle_value.append(
send_cmd_sync_ok(
swift, 'M2211 N0 A%d T2' % (reference_angle_addr + offset),
SIMPLE_RESPONSE_REGEX))
print(reference_angle_value)
print("-> height offset:")
# in uArmParams.h
# define EEPROM_HEIGHT_ADDR 910
# define DATA_TYPE_FLOAT 4
# in uArmCalibration.cpp
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_HEIGHT_ADDR, DATA_TYPE_FLOAT);
height_offset = send_cmd_sync_ok(swift, "M2211 N0 A910 T4",
SIMPLE_RESPONSE_REGEX)
print(height_offset)
print("-> front offset:")
# in uArmParams.h
# define EEPROM_FRONT_ADDR 920
# in uArmCalibration.cpp
# getE2PROMData(EEPROM_ON_CHIP, EEPROM_FRONT_ADDR, DATA_TYPE_FLOAT);
front_offset = send_cmd_sync_ok(swift, "M2211 N0 A920 T4",
SIMPLE_RESPONSE_REGEX)
print(front_offset)
# print('resetting...')
# swift.reset()
# swift.set_servo_detach(2, wait=True)
# sleep(1)
# swift.set_servo_detach(1, wait=True)
# sleep(1)
# swift.set_servo_detach(0, wait=True)
swift.set_servo_detach(wait=True)
print("Servos detatched")
# print("now you can position the arm on the X-Z plane (rotation locked at zero)")
while True:
sleep(1)
print("Make your selection:")
print(" - Press enter to get calibration data")
print(" - Press s to set reference angle")
if fw_has_b_angles:
print(" - Press b to set reference angle B")
else:
print(" - [reference angle B not supported by firmware %s]" %
fw_version)
print(" - Press h to zero height")
print(" - Press Ctrl-C to exit")
raw_in = input("...")
# swift.set_servo_attach(wait=True)
# print("get_position: %s" % swift.get_position())
# hack to update current position on device
send_cmd_sync_ok(swift, "M2400 S1")
values = OrderedDict()
# Raw sensor values
response = send_cmd_sync_ok(swift, "P2242")
values['sensor'] = OrderedDict([(token[0], token[1:])
for token in response.split(" ")[1:]])
# Cartesian coordinates
response = send_cmd_sync_ok(swift, "P2220")
values['cartesian'] = OrderedDict([
(token[0], token[1:]) for token in response.split(" ")[1:]
])
# angle values
values['angle'] = OrderedDict()
for index, name in [(0, 'B'), (1, 'L'), (2, 'R')]:
response = send_cmd_sync_ok(swift, "P2206 N%s" % index)
values['angle'][name] = response.split(" ")[1][1:]
print("; ".join([
", ".join([
"%s:%+07.2f" % (key, float(value))
for key, value in values[dictionary].items()
]) for dictionary in ['sensor', 'cartesian', 'angle']
]))
if raw_in == "s":
print("M2401: %s" % send_cmd_sync_ok(swift, "M2401 V22765"))
elif fw_has_b_angles and raw_in == "b":
print("M2401: %s" % send_cmd_sync_ok(swift, "M2401 B"))
elif raw_in == "h":
print("M2410: %s" % send_cmd_sync_ok(swift, "M2410"))
else:
logging.warning("did not understand command: %s" % raw_in)
# swift.set_buzzer()
# swift.set_servo_detach(wait=True)
print('done ...')
while True:
sleep(1)
class XYZSlider(QWidget):
def __init__(self):
print('here')
self.a = QApplication(sys.argv)
super().__init__()
self.initUI()
def show_ux(self):
sys.exit(self.a.exec_())
def initUI(self):
self.setGeometry(10, 10, 1500, 500)
self.addSliderZ()
self.addSliderX()
self.addSliderY()
self.addGripperButton()
self.connectButton = QPushButton('Connect', self)
self.connectButton.clicked.connect(self.handleConnectButton)
self.exitButton = QPushButton('Exit', self)
self.exitButton.clicked.connect(self.handleExitButton)
self.setGeometry(300, 300, 1500, 500)
self.setWindowTitle('Control Sliders')
self.sld1.setEnabled(False)
self.sldX.setEnabled(False)
self.sldY.setEnabled(False)
self.gripperButton.setEnabled(False)
self.mylayout()
self.show()
def mylayout(self):
self.qwsld = QWidget()
self.qwsld.setStyleSheet("Background-color: red")
self.grid = QGridLayout(self.qwsld)
self.setLayout(self.grid)
self.subW = QWidget()
self.grid.addWidget(self.subW, 1, 1)
self.subGridW = QGridLayout(self.subW)
self.setLayout(self.subGridW)
self.dummyW = QWidget()
connectButtonPos = {"r": 1, "c": 1}
exitButtonPos = {"r": 1, "c": 2}
gripperButtonPos = {"r": 2, "c": 1}
self.grid.addWidget(self.dummyW, 2, 2)
zSliderPos = {"r": 2, "c": 1}
zLabelPos = {"r": zSliderPos['r'], "c": 2}
xSliderPos = {"r": zSliderPos['r'] + 1, "c": zSliderPos['c']}
xLabelPos = {"r": zLabelPos['r'] + 1, "c": zLabelPos['c']}
ySliderPos = {"r": zSliderPos['r'] + 2, "c": zSliderPos['c']}
yLabelPos = {"r": zLabelPos['r'] + 2, "c": zLabelPos['c']}
print(connectButtonPos["r"], " ", connectButtonPos["c"])
self.subGridW.addWidget(self.connectButton, connectButtonPos["r"],
connectButtonPos["c"])
self.subGridW.addWidget(self.exitButton, exitButtonPos["r"],
exitButtonPos["c"])
self.subGridW.addWidget(self.gripperButton, gripperButtonPos["r"],
gripperButtonPos["c"])
self.grid.addWidget(self.l1, zLabelPos["r"], zLabelPos["c"])
self.grid.addWidget(self.sld1, zSliderPos["r"], zSliderPos["c"])
self.grid.addWidget(self.lX, xLabelPos["r"], xLabelPos["c"])
self.grid.addWidget(self.sldX, xSliderPos["r"], xSliderPos["c"])
self.grid.addWidget(self.lY, yLabelPos["r"], yLabelPos["c"])
self.grid.addWidget(self.sldY, ySliderPos["r"], ySliderPos["c"])
def addGripperButton(self):
self.gripper = True
self.gripperButton = QPushButton('Gripper', self)
self.gripperButton.clicked.connect(self.handleGripperButton)
def handleConnectButton(self):
print('In ConnectButton ')
self.swift = SwiftAPI(dev_port='COM4')
sleep(2)
print(self.swift.get_device_info())
print('set x=150, y=0, z=150')
self.uarmZ = 150
self.uarmX = 150
self.uarmY = 0
self.swift.set_position(x=self.uarmX,
y=self.uarmY,
z=self.uarmZ,
wait=True,
speed=2000)
self.swift.set_gripper(self.gripper)
self.sld1.setValue(self.uarmZ)
self.sldX.setValue(self.uarmX)
self.sldY.setValue(self.uarmY)
self.sld1.setEnabled(True)
self.sldX.setEnabled(True)
self.sldY.setEnabled(True)
self.gripperButton.setEnabled(True)
self.connectButton.setEnabled(False)
def handleGripperButton(self):
self.gripper = False if self.gripper else True #toggle
self.swift.set_gripper(self.gripper)
sleep(4)
def handleExitButton(self):
sys.exit()
#----------------------Z----------------
def changeValueSld1(self):
txt = "Z: " + str(self.sld1.value())
self.l1.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSld1(self):
print('sliderreleased slider is: ', self.sld1.value())
self.uarmZ = self.sld1.value()
self.swift.set_position(z=self.uarmZ, wait=True, speed=2000)
def addSliderZ(self):
self.sld1 = QSlider(Qt.Horizontal, self)
p = self.sld1.palette()
p.setColor(self.sld1.backgroundRole(), Qt.red)
self.sld1.setPalette(p)
self.sld1.setFocusPolicy(Qt.NoFocus)
self.sld1.setGeometry(30, 40, 1000, 30)
self.sld1.setMaximum(150)
self.sld1.setMinimum(0)
self.sld1.setTickPosition(QSlider.TicksBelow)
self.sld1.setTickInterval(5)
self.sld1.sliderReleased.connect(self.sliderReleaseSld1)
self.sld1.valueChanged.connect(self.changeValueSld1)
self.l1 = QLabel(self)
self.l1.setForegroundRole(QPalette.Dark)
self.l1.setText('Z:')
#-----------x-----------------------------------------------
def addSliderX(self):
self.sldX = QSlider(Qt.Horizontal, self)
p = self.sldX.palette()
p.setColor(self.sldX.backgroundRole(), Qt.red)
self.sldX.setPalette(p)
self.sldX.setFocusPolicy(Qt.NoFocus)
self.sldX.setGeometry(30, 40, 1000, 30)
self.sldX.setMaximum(350)
self.sldX.setMinimum(100)
self.sldX.setTickPosition(QSlider.TicksBelow)
self.sldX.setTickInterval(5)
self.sldX.sliderReleased.connect(self.sliderReleaseSldX)
self.sldX.valueChanged.connect(self.changeValueSldX)
self.lX = QLabel(self)
self.lX.setForegroundRole(QPalette.Dark)
self.lX.setText('X:')
def changeValueSldX(self):
txt = "X: " + str(self.sldX.value())
self.lX.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSldX(self):
print('sliderreleased X slider : ', self.sldY.value())
self.uarmX = self.sldX.value()
self.swift.set_position(x=self.uarmX, wait=True, speed=2000)
#-----------Y-----------------------------------------------
def addSliderY(self):
self.sldY = QSlider(Qt.Horizontal, self)
p = self.sldY.palette()
p.setColor(self.sldY.backgroundRole(), Qt.red)
self.sldY.setPalette(p)
self.sldY.setFocusPolicy(Qt.NoFocus)
self.sldY.setGeometry(30, 40, 1000, 30)
self.sldY.setMaximum(100)
self.sldY.setMinimum(-100)
self.sldY.setTickPosition(QSlider.TicksBelow)
self.sldY.setTickInterval(5)
self.sldY.sliderReleased.connect(self.sliderReleaseSldY)
self.sldY.valueChanged.connect(self.changeValueSldY)
self.lY = QLabel(self)
self.lY.setForegroundRole(QPalette.Dark)
self.lY.setText('Y:')
def changeValueSldY(self):
txt = "Y: " + str(self.sldY.value())
self.lY.setText(txt)
#print('changeValue slider is: ', self.sld1.value())
def sliderReleaseSldY(self):
print('sliderreleased Y slider : ', self.sldY.value())
self.uarmY = self.sldY.value()
self.swift.set_position(y=self.uarmY, wait=True, speed=2000)
def str2bool(v):
return v.lower() in ("yes", "true", "t", "1")
logger_init(logging.DEBUG)
print('setup swift ...')
swift = SwiftAPI(dev_port='/dev/ttyACM0')
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
sock = socket.socket()
host = '192.168.0.27' #ip of raspberry pi
port = 12345
sock.bind((host, port))
sock.listen(5)
while True:
print('waiting for a connection')
connection, client_address = sock.accept()
try:
print('client connected: {}'.format(client_address))
while True:
data = connection.recv(128).decode()
print('received {}"'.format(str(data)))
if data == 'position':
