def moveToNB(self, angle1, angle2, angle3, angle4):
"""
Move all joints on the Linkbot. Linkbot-I modules will ignore the
'angle2' parameter and Linkbot-L modules will ignore the 'angle3'
parameter.
This function is the non-blocking version of moveTo(), meaning this
function will return immediately after the robot has begun moving and
will not wait until the motion is finished.
@type angle1: number
@param angle1: Position to move the joint, in degrees
@type angle2: number
@param angle2: Position to move the joint, in degrees
@type angle3: number
@param angle3: Position to move the joint, in degrees
"""
angle1 = _util.deg2rad(angle1)
angle2 = _util.deg2rad(angle2)
angle3 = _util.deg2rad(angle3)
angle4 = _util.deg2rad(angle4)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORANGLESABS, 0x13])
buf += bytearray(struct.pack('<4f', angle1, angle2, angle3, 0.0))
buf += bytearray([0x00])
self._transactMessage(buf)
def smoothMoveTo(self, joint, accel0, accelf, vmax, angle):
"""
Move a joint to a desired position with a specified amount of starting and
stopping acceleration.
@type joint: number
@param joint: The joint to move
@type accel0: number
@param accel0: The starting acceleration, in deg/sec/sec
@type accelf: number
@param accelf: The stopping deceleration, in deg/sec/sec
@type vmax: number
@param vmax: The maximum velocity for the joint during the motion, in deg/sec
@type angle: number
@param angle: The absolute angle to move the joint to, in degrees
"""
_accel0 = _util.deg2rad(accel0)
_accelf = _util.deg2rad(accelf)
_vmax = _util.deg2rad(vmax)
_angle = _util.deg2rad(angle)
buf = bytearray([barobo.BaroboCtx.CMD_SMOOTHMOVE, 20, joint-1])
buf += bytearray(struct.pack('<4f', _accel0, _accelf, _vmax, _angle))
buf += bytearray([0x00])
buf[1] = len(buf)
self._transactMessage(buf)
def moveNB(self, angle1, angle2, angle3, angle4):
"""
Non-blocking version of move(). See move() for more details
"""
angle1 = _util.deg2rad(angle1)
angle2 = _util.deg2rad(angle2)
angle3 = _util.deg2rad(angle3)
angle4 = _util.deg2rad(angle4)
buf = bytearray([barobo.BaroboCtx.CMD_MOVE_MOTORS, 0x13])
buf += bytearray(struct.pack('<4f', angle1, angle2, angle3, angle4))
buf += bytearray([0x00])
self._transactMessage(buf)
def driveToNB(self, angle1, angle2, angle3, angle4):
"""
Non-blocking version of driveTo(). See driveTo() for more details
"""
angle1 = _util.deg2rad(angle1)
angle2 = _util.deg2rad(angle2)
angle3 = _util.deg2rad(angle3)
angle4 = _util.deg2rad(angle4)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORANGLESPID, 0x13])
buf += bytearray(struct.pack('<4f', angle1, angle2, angle3, angle4))
buf += bytearray([0x00])
self._transactMessage(buf)
def moveJointToNB(self, joint, angle):
"""
Non-blocking version of moveJointTo. See moveJointTo for more details.
"""
angle = _util.deg2rad(angle)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORANGLEABS, 0x08, joint-1])
buf += bytearray(struct.pack('<f', angle))
buf += bytearray([0x00])
self._transactMessage(buf)
def moveJointToNB(self, joint, angle):
"""
Non-blocking version of moveJointTo. See moveJointTo for more details.
"""
angle = _util.deg2rad(angle)
buf = bytearray(
[barobo.BaroboCtx.CMD_SETMOTORANGLEABS, 0x08, joint - 1])
buf += bytearray(struct.pack('<f', angle))
buf += bytearray([0x00])
self._transactMessage(buf)
def setAcceleration(self, accel):
"""
Set the acceleration of all joints. Each joint motion will begin with this
acceleration after calling this function. Set the acceleration to 0 to
disable this feature.
"""
buf = bytearray([barobo.BaroboCtx.CMD_SETGLOBALACCEL, 0])
buf += struct.pack('<f', _util.deg2rad(accel))
buf += bytearray([0x00])
buf[1] = len(buf)
self._transactMessage(buf)
def setAcceleration(self, accel):
"""
Set the acceleration of all joints. Each joint motion will begin with this
acceleration after calling this function. Set the acceleration to 0 to
disable this feature.
"""
buf = bytearray([barobo.BaroboCtx.CMD_SETGLOBALACCEL, 0])
buf += struct.pack('<f', _util.deg2rad(accel))
buf += bytearray([0x00])
buf[1] = len(buf)
self._transactMessage(buf)
def setJointSpeed(self, joint, speed):
"""
Set the speed of a joint.
@type joint: number
@param joint: The joint to change the speed. Can be 1, 2, or 3
@type speed: number
@param speed: The speed to set the joint to, in degrees/second.
"""
_speed = _util.deg2rad(speed)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORSPEED, 0x08, joint - 1])
buf += bytearray(struct.pack('<f', _speed))
buf += bytearray([0x00])
self._transactMessage(buf)
def setJointSpeed(self, joint, speed):
"""
Set the speed of a joint.
@type joint: number
@param joint: The joint to change the speed. Can be 1, 2, or 3
@type speed: number
@param speed: The speed to set the joint to, in degrees/second.
"""
_speed = _util.deg2rad(speed)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORSPEED, 0x08, joint-1])
buf += bytearray(struct.pack('<f', _speed))
buf += bytearray([0x00])
self._transactMessage(buf)
def moveToNB(self, angle1, angle2, angle3, angle4):
"""
Move all joints on the Linkbot. Linkbot-I modules will ignore the 'angle2'
parameter and Linkbot-L modules will ignore the 'angle3' parmeter.
This function is the non-blocking version of moveTo(), meaning this
function will return immediately after the robot has begun moving and will
not wait until the motion is finished.
@type angle1: number
@param angle1: Position to move the joint, in degrees
@type angle2: number
@param angle2: Position to move the joint, in degrees
@type angle3: number
@param angle3: Position to move the joint, in degrees
"""
angle1 = _util.deg2rad(angle1)
angle2 = _util.deg2rad(angle2)
angle3 = _util.deg2rad(angle3)
angle4 = _util.deg2rad(angle4)
buf = bytearray([barobo.BaroboCtx.CMD_SETMOTORANGLESABS, 0x13])
buf += bytearray(struct.pack('<4f', angle1, angle2, angle3, 0.0))
buf += bytearray([0x00])
self._transactMessage(buf)
def startJointAcceleration(self, joint, accel, timeout=0):
"""
Make a robot's joint start accelerating forwards (positive accel value)
or backwards.
@type joint: number
@type accel: float, degrees/s/s
@type timeout: float, number of seconds. After this number of seconds,
accel for the joint will be set to 0.
"""
buf = bytearray([barobo.BaroboCtx.CMD_SET_ACCEL, 0, joint - 1])
buf += struct.pack('<f', _util.deg2rad(accel))
buf += bytearray(struct.pack('<i', timeout))
buf += bytearray([0x00])
buf[1] = len(buf)
self._transactMessage(buf)
