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)
print('setup swift ...')
# swift = SwiftAPI(dev_port='/dev/cu.usbmodem1421')
swift = SwiftAPI()
print('sleep 2 sec ...')
sleep(2)
print('device info: ')
print(swift.get_device_info())
# swift.set_position(x=120,z=80,y=30)
# print('\nset X350 Y0 Z50 F500 ...')
# swift.set_position(350, 0, 50, speed=1500)
swift.set_position(x=300, wait=True)
sleep(3)
swift.set_position(x=200,y=100,z=50, wait=True)
print('finished')
try:
while True:
sleep(1)
except KeyboardInterrupt as e:
print('KeyboardInterrupt',e)
finally:
swift.reset()
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('开始测试')
swift.set_buzzer()
swift.set_buzzer()
print('解锁电机')
swift.set_servo_detach()
sleep(10)
swift.set_buzzer()#TODO 哔哔2声
swift.set_buzzer()
sleep(2)
print('解锁电机')
swift.set_servo_attach()
sleep(3)
print('重置机械臂')
swift.set_buzzer()
swift.reset(x=103,
y=0,
z=42,
speed=800)
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,
angles[2],
sleep(2)
print('\nset X350 Y0 Z50 F500 ...')
swift.set_position(x=280, y=0, z=140, wait=True)
swift.set_buzzer()
sleep(2)
# for i in range(1):#3
for words in say_list: #3
swift.set_position(x=280, y=0, z=109, wait=True)
swift.set_buzzer()
# subprocess.call(['say', 'good morning,how are you'])
# subprocess.call(['say', 'sing happy birthday'])
subprocess.call(['say', words])
# sleep(1)
swift.set_position(z=140, wait=True)
sleep(15)
print('done ...')
swift.reset(z=200)
try:
while True:
sleep(1)
except KeyboardInterrupt as e:
print('KeyboardInterrupt', e)
finally:
swift.reset()
# swift.set_position(x=90, y=0, z=70, speed=1800, wait=True)
