def sendMsg(self, msg) : if self.isConnected : (axis, action) = msg if axis == 0 : if action == 'CALIB' : KNI.calibrate(0) elif action == 'SETHOME' : from KNI import TMovement self.home = TMovement() KNI.getPosition(self.home.pos) self.home.transition = KNI.PTP self.home.velocity = 50 self.home.acceleration = 2 elif action == 'MOVEHOME' : if self.home != None : KNI.executeMovement(self.home) else : if action == 'STOP' : KNI.moveMot(axis, KNI.getEncoder(axis), 50, 2) elif action == 'RIGHT' : if axis in self.minusMotors : KNI.moveMot(axis, 0, 50, 2) else : KNI.moveMot(axis, 31000, 50, 2) elif action == 'LEFT' : if axis in self.minusMotors : KNI.moveMot(axis, -31000, 50, 2) else : KNI.moveMot(axis, 0, 50, 2) else : print "Port is not connected"
# PKE/JHA, 2008
############################################################################################
"""
This Skript demonstrates the use of the KNI library through the Python wrapper
For API doc, read the kni_wrapper doc or the kni_wrapper.h file.
"""
#############################################################################################
import sys
sys.path.append("../")
import KNI
from KNI import TMovement
#############################################################################################
import KNI
KNI.initKatana("../../configfiles450/katana6M90T.cfg", "192.168.1.1")
KNI.calibrate(0)
home = TMovement()
KNI.getPosition(home.pos)
home.transition = KNI.PTP
home.velocity = 50
home.acceleration = 2
raw_input("Press [ENTER] to release robot.")
KNI.allMotorsOff()
stackname = "test"
raw_input("Press [ENTER] to store first point (p2p movement).")
m = TMovement()
KNI.getPosition(m.pos)
def calibrate(self):
"""Mandatory call upon hardware switch on. Also can be use to test
calibration procedure."""
# TODO: use another sequence so that the arm does not collide itself
if KNI.calibrate(0) == -1:
raise SpineError('failed to calibrate hardware')
