def __init__(self, dobotPort='/dev/ttyUSB0'):
available_ports = glob('/dev/tty*USB*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port /dev/tty*USB* found for Dobot Magician')
exit(1)
#self.DobotPort = 'COM4'
self.DobotPort = dobotPort;
self.ecRelay = Relay(18);#bcm pin for physical pin 12
self.pdRelay = Relay(24);#bcm for physical 18
self.rhRelay = Relay(23);#bcm for physical 16
self.gripper = ServoGripper(2);
self.dvc = DigitalVoltControl();
self.lastCmd = [0,0,0,0]; #x, y, z, r
print("Setting Port to " + self.DobotPort);
self.device = Dobot(port=self.DobotPort)
time.sleep(1)
if self.device is not None:
print("Opened connection")
self.device.speed(60)
self.z_up = 100
self.z_down = -70
#self.RH_Voltage = 2.5;
#self.PD_Voltage = 1.9;
#self.EC_Voltage = 4.8;
self.home_xyzr = [215, 0, self.z_up, 0];
global global_status
global_status = "Rh Electroplating";
def dobotPort(port, fungsi):
if fungsi == 1:
main = Dobot(port=port)
return main
if fungsi == 2:
jog = JOG(port=port)
return jog
def _connect_dobot(self, i):
try:
portArray = [
"/dev/ttyUSB0", "/dev/ttyUSB01", "/dev/ttyUSB2",
"/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyUSB5", "/dev/ttyS0",
"/dev/ttyS1", "/dev/ttyS2", "/dev/ttyS3", "/dev/ttyS4",
"/dev/ttyS5"
]
self.device = Dobot(port=portArray[i], verbose=False)
print("連接成功")
except Exception as e:
print("無法在" + portArray[i] + "連接Dobot\n原因:" + str(e))
if (i < len(portArray) - 1):
print("沒關係的別驚慌,我會嘗試連接下一個port\n")
self._connect_dobot(i + 1)
else:
print("連接失敗，請檢查是否有將dobot接上USB")
def connect_dobot():
available_ports = glob('/dev/ttyUSB0') # mask for OSX Dobot port
if len(available_ports) == 0:
print("NOT FOUND!!!")
print('no port found for Dobot Magician')
exit(1)
#
device = Dobot(port=available_ports[0])
print("Connected")
return device
def __init__(self,streamload,mtx=[],dist=[]):
self.refh = 20
self.z_ = None
self.H = []
self.imaskG = []
self.mtx = mtx
self.dist = dist
self.awaycoor = (-25,-230,50)
self.cencoor = (254,8,13)
self.armcp = np.array([[271.55,7.53],[272.76,91.28],[319.10,6.78],
[268.29,-163.73],[207.71,77.28],[304.95,-91.05]])
self.streamload = streamload
port = list_ports.comports()[0].device
device = Dobot(port=port,verbose=False)
self.device = device
self.columns = os.get_terminal_size().columns
import time
from glob import glob
from pydobot import Dobot
available_ports = glob('/dev/cu*usb*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port found for Dobot Magician')
exit(1)
device = Dobot(port=available_ports[0])
time.sleep(0.5)
device.speed(100)
device.go(250.0, 0.0, 25.0)
device.speed(10)
device.go(250.0, 0.0, 0.0)
time.sleep(2)
device.close()
from serial.tools import list_ports
from pydobot import Dobot
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
(l) = device.pose_l()
print(f'x:{x} y:{y} z:{z} r:{r} l:{l} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
#device.move_to(x + 100, y, z, r, wait=False)
#device.move_to(x + 100, y + 100, z, r, wait=False)
#device.move_to(x + 100, y + 100, z + 100, r, wait=False)
device.grip(False)
#device.move_to(x, y, z, r, wait=True) # we wait until this movement is done before continuing
#device.grip(True)
#device.move_to(x + 20, y, z, r, wait=False)
#device.move_to(x, y, z, r, wait=True)
device.move_to_with_l(228, -65, -18, -17, 0, wait=True)
#device.move_to_with_l(228, -65, -47, -16, 0, wait=True)
device.suck(False)
#device.move_to_with_l(x, y, z, r, l, wait=True)
device.close()
from math import sqrt, asin, pi, degrees
from serial.tools import list_ports
from time import sleep
from pydobot import Dobot
import speech_recognition as sr
# import win32com.client as wincl
# from simpleTest import armMotor, modelInit, modelExit
# import SpeechRecognition as sr
def modelInit():
pass
port = list_ports.comports()[1].device
device = Dobot(port=port, verbose=True)
modelInit()
def sendToModel():
pass
# arrToModel = []
# (_, __, ___, ____, arrToModel[0], arrToModel[1], arrToModel[2], arrToModel[3]) = device.pose()
# armMotor(arrToModel)
def findLine(a, b):
return sqrt((a[0] - b[0])**2 + (a[1] - b[1])**2)
def talk(words):
class CustomDobot:
def __init__(self, port):
self.device = Dobot(port=port, verbose=True)
self.home_x = 200
self.home_y = 0
self.home_z = 135
def speed(self, speed: float):
self.device.speed(speed)
def set_home(self, x: float, y: float, z: float):
self.home_x = x
self.home_y = y
self.home_z = z
def relocate(self):
self.device.home()
self._move_home()
def move_and_suck(self, from_x: float, from_y: float, from_z: float,
to_x: float, to_y: float, to_z: float):
self._move_home()
(now_x, now_y, now_z, now_r, now_j1, now_j2, now_j3,
now_j4) = self.device.pose()
# move to object location
self.device.move_to(from_x, from_y, now_z)
self.device.move_to(from_x, from_y, from_z)
# suck object
self.device.suck(True)
# move to target location
self.device.move_to(now_x, now_y, self.home_z)
self.device.move_to(to_x, to_y, self.home_z)
self.device.move_to(to_x, to_y, to_z)
self.device.suck(False)
def move_to(self, x=None, y=None, z=None):
if x is None:
x = self.pose()[0]
if y is None:
y = self.pose()[1]
if z is None:
z = self.pose()[2]
self.device.move_to(x, y, z)
self.show_position()
def _move_home(self):
(now_x, now_y, now_z, now_r, now_j1, now_j2, now_j3,
now_j4) = self.device.pose()
self.device.move_to(now_x, now_y, self.home_z)
self.device.move_to(self.home_x, self.home_y, self.home_z)
def suck(self, suck):
self.suck(suck)
def pose(self):
return self.device.pose()
def show_position(self):
(x, y, z, r, j1, j2, j3, j4) = self.device.pose()
print()
print(TerminalColor.Green + "CUSTOM_DOBOT at position:")
print(TerminalColor.Green + 'x:{', x, '}\ny:{', y, '}\nz:{', z, '}')
print(TerminalColor.ResetAll)
def close(self):
self.device.close()
from board import *
from utils import *
import time
import cv2
import vision
from pydobot import Dobot
# 连接机械臂
global device
device = Dobot(port='com6', verbose=False)
time.sleep(0.5)
device.speed(1)
device._get_pose()
# 位置初始化
device.go_init_pos()
def text_objects(text, font):
textSurface = font.render(text, True, black)
return textSurface, textSurface.get_rect()
def message_display(text, x, y, size):
largeText = pygame.font.Font('freesansbold.ttf', size)
TextSurf, TextRect = text_objects(text, largeText)
TextRect.center = (x, y)
screen.blit(TextSurf, TextRect)
pygame.display.update()
def main():
global bootOffset
global nextBlue
global nextOrange
global tokensInPlay
global orangeStorage
global blueStorage
global playArea
if not simulate:
port0 = list_ports.comports()[0].device
device0 = Dobot(port=port0, verbose=True)
(x1, y1, z1, r1, j1, j2, j3, j4) = device0.pose()
bootOffset["x"] = x1
bootOffset["y"] = y1
bootOffset["z"] = z1
# print(f'x:{x1} y:{y1} z:{z1} r:{0} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device0.speed(250, 250)
device0.move_to(x1, y1, z1 - 1, 0, wait=False)
device0.suck(True)
device0.move_to(
x1, y1, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(
x1 + 81.5, y1 - 94.5, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(
x1 + 81.5, y1 - 94.5, z1, 0, wait=False
) # we wait until this movement is done before continuing
device0.suck(False)
device0.move_to(
x1 + 81.5, y1 - 94.5, z1 + 20, 0, wait=False
) # we wait until this movement is done before continuing
device0.move_to(x1 - 36, y1 - 56, z1 + 20, 0, wait=False)
try:
os.remove("position_log.txt")
except Exception as e:
print("Exception while deleting file position_log.txt: " + str(e))
# starting move to reposition home block from center of grid to last position of orange nest
while (1):
if (inputSource == "buttons"):
if GPIO.input(button1) == 0:
playStep("11")
if GPIO.input(button2) == 0:
playStep("12")
if GPIO.input(button3) == 0:
playStep("13")
if GPIO.input(button4) == 0:
playStep("21")
if GPIO.input(button5) == 0:
playStep("22")
if GPIO.input(button6) == 0:
playStep("23")
if GPIO.input(button7) == 0:
playStep("31")
if GPIO.input(button8) == 0:
playStep("32")
if GPIO.input(button9) == 0:
playStep("33")
elif (inputSource == "console"):
while True:
consoleInput = ""
while consoleInput == "":
consoleInput = ""
consoleInput = input(
"Select a position to place your token. Use the number pad orientation:\n"
)
if len(consoleInput) == 1 and consoleInput.isdigit():
playStep(digitInputLookup[str(consoleInput)])
elif len(consoleInput) > 1:
print("Please enter only one position!")
elif not consoleInput.isdigit():
print("Please enter only one digit!")
elif (mode == 0):
device.set_io_multiplexing(index, EIOMode.IO_FUNC_DUMMY)
device.set_io_do(index, 0)
return ("IO %d INPUT" % (index))
available_ports = []
for port in list_ports.comports():
if (port.pid == 0x7523 and port.vid == 0x1a86):
available_ports.append(port.device)
if len(available_ports) == 0:
print("No Dobot found")
exit()
device = Dobot(port=available_ports[0], verbose=False, skipInit=False)
device._get_device_version()
print(("Dobot device version: %d.%d.%d" %
(device.majorVersion, device.minorVersion, device.revision)))
webRespDict["/version"] = (
"Dobot device version: %d.%d.%d" %
(device.majorVersion, device.minorVersion, device.revision))
webRespDict["/jog"] = jogMachine
webRespDict["/emotor"] = moveEMotor
webRespDict["/pose"] = getPose
webRespDict["/home"] = home
webRespDict["/moveinc"] = moveInc
webRespDict["/io"] = accessIOPorts
laserJig = LaserJig.LaserJig(device)
class DobotPlating():
def __init__(self, dobotPort='/dev/ttyUSB0'):
available_ports = glob('/dev/tty*USB*') # mask for OSX Dobot port
if len(available_ports) == 0:
print('no port /dev/tty*USB* found for Dobot Magician')
exit(1)
#self.DobotPort = 'COM4'
self.DobotPort = dobotPort;
self.ecRelay = Relay(18);#bcm pin for physical pin 12
self.pdRelay = Relay(24);#bcm for physical 18
self.rhRelay = Relay(23);#bcm for physical 16
self.gripper = ServoGripper(2);
self.dvc = DigitalVoltControl();
self.lastCmd = [0,0,0,0]; #x, y, z, r
print("Setting Port to " + self.DobotPort);
self.device = Dobot(port=self.DobotPort)
time.sleep(1)
if self.device is not None:
print("Opened connection")
self.device.speed(60)
self.z_up = 100
self.z_down = -70
#self.RH_Voltage = 2.5;
#self.PD_Voltage = 1.9;
#self.EC_Voltage = 4.8;
self.home_xyzr = [215, 0, self.z_up, 0];
global global_status
global_status = "Rh Electroplating";
def calibrate(self):
self.device.goHome();
def isMoveFinished(self):
euDist = math.pow(self.lastCmd[0] - self.device.x,2) + math.pow(self.lastCmd[1] - self.device.y, 2) + math.pow(self.lastCmd[2] - self.device.z, 2) + math.pow(self.lastCmd[3] - self.device.r, 2);
euDist = math.sqrt(euDist);
if(euDist < 2):
return True;
else:
#print("still moving ..");
return False;
def move_home(self):
self.move_xy(self.home_xyzr[0], self.home_xyzr[1], self.home_xyzr[2], self.home_xyzr[3], 0.3);
def move_xy(self, x, y, z, r, duration = 1):
self.lastCmd = [x, y, z, r];
self.device.go(x, y, z, r); #MOVJ
# time.sleep(duration);
# print("in is move finished..");
print("xyzr position: " + str(self.device.x) + ", " + str(self.device.y) + ", " + str(self.device.z) + ", " + str(self.device.r));
def move_xy_linear(self, x, y, z, r, duration = 1):
self.lastCmd = [x, y, z, r];
self.device.goMovL(x, y, z, r); #MOVJ
# time.sleep(duration);
# print("in is move finished..");
print("xyzr position: " + str(self.device.x) + ", " + str(self.device.y) + ", " + str(self.device.z) + ", " + str(self.device.r));
def shake(self, x, y, z, r, shakeDuration, dispStr):
global global_status;
t_end = time.time() + shakeDuration;
tdiff = t_end - time.time();
while tdiff > 0:
if(dispStr is not None):
global_status = dispStr + str(int(tdiff)) + "s"
self.move_xy(x, y, z + 10, r, 0.1);
self.move_xy(x, y, z - 10, r, 0.1);
tdiff = t_end - time.time();
def up_down_beaker(self,id):
print ("Doing beaker %d now" % (id));
self.move_xy(Beakers[id][0], Beakers[id][1], self.z_up, Beakers[id][3], 0.3);
self.move_xy(Beakers[id][0], Beakers[id][1], (self.z_up + self.z_down)/2.0 , Beakers[id][3], 0.3); #adding a mid point so that the Joint motion isn't touching th edges of the beakers
self.move_xy(Beakers[id][0], Beakers[id][1], self.z_down, Beakers[id][3], 0.3);
dispStr = "Step " + str(id) + ": ";
while(not self.isMoveFinished()):
time.sleep(0.01);
if(id == 1):
self.ecRelay.on();
dispStr = dispStr + "EC "
elif(id == 8):
self.pdRelay.on();
dispStr = dispStr + "Pd Solution "
elif(id == 11):
self.rhRelay.on();
dispStr = dispStr + "Rh Solution "
if(id == 1 or id == 8 or id == 11):
if(id == 11):
self.shake(Beakers[id][0], Beakers[id][1], self.z_down - 20, Beakers[id][3], Beakers[id][4], dispStr); #x, y, z and shake_duration
else:
self.shake(Beakers[id][0], Beakers[id][1], self.z_down, Beakers[id][3], Beakers[id][4], dispStr); #x, y, z and shake_duration
else:
self.shake(Beakers[id][0], Beakers[id][1], self.z_down, Beakers[id][3], Beakers[id][4], None); #x, y, z and shake_duration
self.ecRelay.off();
self.pdRelay.off();
self.rhRelay.off();
#move up
#shake to drop the excess drops
#go half way to adjust for MOVJ
self.move_xy(Beakers[id][0], Beakers[id][1], (self.z_up + self.z_down)/2.0 , Beakers[id][3], 0.3); #adding a mid point so that the Joint motion isn't touching th edges of the beakers
#self.move_xy(Beakers[id][0], Beakers[id][1], self.z_up, Beakers[id][3]);
self.shake(Beakers[id][0], Beakers[id][1], self.z_up, Beakers[id][3], 2, None);
self.move_xy(Beakers[id][0], Beakers[id][1], self.z_up, Beakers[id][3]);
while(not self.isMoveFinished()):
time.sleep(0.01);
def startProcess(self, EC_Voltage, PD_Voltage, RH_Voltage):
global process_running
process_running = True;
global global_status
global_status = "Step 1: EC"
#1
if(EC_Voltage == 5.6):
self.dvc.setMaxVoltage();
else:
self.dvc.setVoltage(EC_Voltage);
self.up_down_beaker(1);
#2
global_status = "Step 2: Dragout"
self.up_down_beaker(2);
#3
global_status = "Step 3: Water"
self.up_down_beaker(3);
#4
global_status = "Step 4: Activation"
self.up_down_beaker(4);
#5
global_status = "Step 5: Water"
self.up_down_beaker(5);
#6
global_status = "Step 6: Water"
self.up_down_beaker(6);
#7
global_status = "Step 7: Water"
self.up_down_beaker(7);
#8
#global_status = "Step 8: Pd Solution"
#self.dvc.setVoltage(PD_Voltage);
#self.up_down_beaker(8);
#9
#global_status = "Step 9: Pd Dragout"
#self.up_down_beaker(9);
#10
#global_status = "Step 10: Water"
#self.up_down_beaker(10);
#11
global_status = "Step 11: Rh Solution"
self.dvc.setVoltage(RH_Voltage);
self.up_down_beaker(11);
#12
global_status = "Step 12: Rh Dragout"
self.up_down_beaker(12);
#13 #repeat of beaker 10
global_status = "Step 13: Water"
self.up_down_beaker(10);
#Home
self.move_home()
global_status = "Done.."
process_running = False;
print("\n DONE \n");
def __del__(self):
self.device.close();
del self.gripper;
del self.dvc;
del self.ecRelay;
del self.pdRelay;
del self.rhRelay;
print("Exiting Cleanly..");
from serial.tools import list_ports
from pydobot import Dobot
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
print()
print('|Before| x:{', x, '} y:{', y, '} z:{', z, '} r:{', r, '} j1:{', j1,
'} j2:{', j2, '} j3:{', j3, '} j4:{', j4, '}')
print()
device.speed(10)
device.wait_for_cmd(device.move_to(206, 0, 134))
(x, y, z, r, j1, j2, j3, j4) = device.pose()
device.wait_for_cmd(device.move_to(x, y, -20))
(x, y, z, r, j1, j2, j3, j4) = device.pose()
print()
print('|After | x:{', x, '} y:{', y, '} z:{', z, '} r:{', r, '} j1:{', j1,
'} j2:{', j2, '} j3:{', j3, '} j4:{', j4, '}')
print()
device.close()
#if psutil.OSX:
# available_ports = glob('/dev/cu*usbserial*') # mask for OSX Dobot port
#if psutil.LINUX:
# available_ports = glob('/dev/ttyUSB*') # mask for Linux Dobot port
available_ports = []
for port in list_ports.comports():
if (port.pid == 0x7523 and port.vid == 0x1a86):
available_ports.append(port.device)
if len(available_ports) == 0:
print("No Dobot found")
exit()
device = Dobot(port=available_ports[0], verbose=True)
device._get_device_version()
#test only
#device._set_end_effector_parameters(65) #paste dispenser
#device._get_end_effector_parameters()
#device._get_jog_joint_parameters() #default: jog joint velocity 15.0, 15.0, 15.0, 30.0. jog joint acceleration 50.0, 50.0, 50.0, 50.0
#device._get_jog_coordinate_parameters() #default:jog coordinate velocity 60.0, 60.0, 60.0, 60.0. jog coordinate acceleration 60.0, 60.0, 60.0, 60.0
#device._set_jog_common_parameters(1.5,5.0)
#device._get_jog_common_parameters() #default jog velocityRatio:15.000 jog accelerationRatio:50.000
#device.set_arc_params(50,50);
#device.move_to(200,0,25,0, wait=True)
#device.arc_via_to(210,0,25,0,220,10,25,0, wait=True)
# Copyright (c) 2020 Sagar Gubbi. All rights reserved. # Use of this source code is governed by a BSD-style license that can be # found in the LICENSE file. import socket from pydobot import Dobot CLIENT_UDP_IP = "0.0.0.0" UDP_PORT = 9090 sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sock.bind((CLIENT_UDP_IP, UDP_PORT)) d = Dobot(port='/dev/ttyUSB0', verbose=False) d.wait_for_cmd(d.suck(True)) d.wait_for_cmd(d.grip(False)) g_state = False d_origin_x = 225. d_origin_y = 0. d_origin_z = 15. dr = -20 d_scale = 300. dx_min, dx_max = 180, 270 dy_min, dy_max = -110, 110 dz_min, dz_max = -30, 70
from serial.tools import list_ports
from pydobot import Dobot
from util import (BELT_ONE_X_POSITION, BELT_ONE_Y_POSITION,
BELT_TW0_Y_POSITION, BELT_TWO_X_POSITION, QUEUE_X_POSITION,
QUEUE_Y_POSITION, HOME_X, HOME_Y)
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
# device.move_to_with_l(HOME_X, HOME_Y, -30, -75, 450, wait=True) # start positon
# device.move_to_with_l(QUEUE_X_POSITION, QUEUE_Y_POSITION, -30, -75, 400, wait=True) # Position above queue start
# device.move_to_with_l(HOME_X, HOME_Y, -30, -75, 100, wait=True) # Stop between both
# device.move_to_with_l(BELT_ONE_X_POSITION, BELT_ONE_Y_POSITION, -20, -10, 0, wait=True) # Position above first conveyor belt
# device.move_to_with_l(120, -215, -30, -75, 620, wait=True) # Position above queue end to push
# device.move_to_with_l(120, -215, -75, -75, 620, wait=True) # Position behind queue end to push
# device.move_to_with_l(325, 0, -20, 40, 825, wait=True) # Position above second conveyor belt
# device.move_to_with_l(QUEUE_X_POSITION, QUEUE_Y_POSITION, -30, -75, 625, wait=True) # Position above queue end to put
device.move_to_with_l(QUEUE_X_POSITION,
QUEUE_Y_POSITION,
-75,
-75,
645,
wait=True) # Position above queue end to push
device.close()
from serial.tools import list_ports from pydobot import Dobot port = list_ports.comports()[0].device device = Dobot(port=port, verbose=True) (x, y, z, r, j1, j2, j3, j4) = device.pose() (l) = device.pose_l() device.move_to_with_l(236, 23, 20, 5, 0, wait=True) # we wait until this movement is done before continuing device.move_to_with_l(226, 106, -28, 5, 0, wait=True) # we wait until this movement is done before continuing device.grip(True) device.close()
from serial.tools import list_ports
from pydobot import Dobot
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
(l) = device.pose_l()
device.move_to_with_l(
x, y, 20, r, l,
wait=True) # we wait until this movement is done before continuing
device.move_to_with_l(300, 40, 20, 20, 600, wait=True)
device.move_to_with_l(
300, 40, -45, 20, 600,
wait=True) # we wait until this movement is done before continuing
device.grip(False)
device.suck(False)
device.close()
import sys
# Global variable definitions
TURTLE_SIZE = 10
s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
flag = False
tmp = ''
message = ''
count = 0
column = 0
c = 0
# Binding for the socket. IP, Port
s.bind(('127.0.0.1', 2000))
# Physical port where DoBot is.
port = list_ports.comports()[1].device
device = Dobot(port=port, verbose=False)
def init():
device.speed(75,75) # Defines dobot velocity and acceleration in 75%
device.move_to(250, 0, 50, 0, wait=True) #DOBOT HOME
#print("Move DoBOT to desired position for writing")
#input("Press Enter to continue...")
device.move_to(193.02188110351562, -45.02191162109375, -48.760108947753906, 0, wait = True)
def receive():
recibido = s.recvfrom(1024) # Receives message using socket
data = recibido[0]
message_received = ''
for key in data:
message_received += chr(key)
message_received=message_received.upper()
from serial.tools import list_ports import util from pydobot import Dobot port = list_ports.comports()[0].device device = Dobot(port=port, verbose=False) util.pushCubeQueue(device) device.close()
class MainWindow(QtWidgets.QMainWindow, Ui_Form):
def __init__(self, parent=None):
super(MainWindow, self).__init__(parent=parent)
self.setupUi(self)
self.nowItem = []
self.x = 640.0
self.y = 360.0
self.user_set_pos = [(0, 0, 0, 0)]
print("開始自動尋找dobot所在的port\n")
self._connect_dobot(0)
self._init_ui_connect()
self.isScanDone = False
self.get_pos()
self.waitTime = 2
def _connect_dobot(self, i):
try:
portArray = [
"/dev/ttyUSB0", "/dev/ttyUSB01", "/dev/ttyUSB2",
"/dev/ttyUSB3", "/dev/ttyUSB4", "/dev/ttyUSB5", "/dev/ttyS0",
"/dev/ttyS1", "/dev/ttyS2", "/dev/ttyS3", "/dev/ttyS4",
"/dev/ttyS5"
]
self.device = Dobot(port=portArray[i], verbose=False)
print("連接成功")
except Exception as e:
print("無法在" + portArray[i] + "連接Dobot\n原因:" + str(e))
if (i < len(portArray) - 1):
print("沒關係的別驚慌,我會嘗試連接下一個port\n")
self._connect_dobot(i + 1)
else:
print("連接失敗，請檢查是否有將dobot接上USB")
#compute (u,v) to real world corrdinate space
def trans(self):
(x, y, z) = self.get_pos()
u = self.x
v = self.y
X = np.array([[u, v, 1.0]]).reshape(1, 3)
M = np.array([[3.68564350e-02, -3.29055785e-01, -1.51788304e-18],
[-3.54059036e-01, -4.73030558e-02, 2.60208521e-18],
[3.56735424e+02, 2.87496286e+02, 1.00000000e+00]])
result = X.dot(M)
#self.depth = self.th.get_depth(u, v)
#we use fixed depth for now
#if(self.depth==0.0):
# self.depth = self.th.get_depth(u, v)
# print("trying to get depth but fail\n")
self.device.move_to(211.9, 1.1, 172.64, 0.0, wait=True)
#depth = self.depth*1000.0 - 65.0
#depth = 172.64 - depth
#print("self depth")
#print(self.depth)
#self.device.move_to(x+20.0 ,y ,depth+10.0, 0.0 , wait = True)
self.device.move_to(result[0][0] - 2.5,
result[0][1] + 1.5,
-91.0,
0.0,
wait=True)
# go to initinal position
def return_ori(self):
(x, y, z) = self.get_pos()
#191.34018, 1.1, 172.64001
self.device.move_to(x, y, z + 40, 0.0)
self.device.move_to(211.9, y, z + 40, 0.0)
self.device.move_to(211.9, 21.100004196166992, z + 40, 0.0)
self.device.move_to(211.9, 21.100004196166992, 172.64, 0.0)
self.device.move_to(191.26025390625, 21.100004196166992,
172.6400146484375, 0.0)
self.get_pos()
def rotate_90(self):
self.device.move_to(191.34018, 1.1, 172.64001, 0.0)
(x, y, z) = self.get_pos()
y = y - 40
self.device.move_to(x, y, z, 0.0)
x = x + 80
z = z + 70
self.device.move_to(x, y, z, 0.0)
y = y + 60
x = x + 60
self.device.move_to(x, y, z, 0.0)
y = y + 40
x = x + 40
self.device.move_to(x, y, z, 0.0)
x = x + 40
y = y + 100
self.device.move_to(x, y, z, 0.0)
x = x - 20
y = y
z = z + 80
self.device.move_to(x, y, z, 0.0)
def rotate_minus90(self):
(x, y, z) = self.get_pos()
x = x + 20
y = y
z = z - 80
self.device.move_to(x, y, z, 0.0)
x = x - 40
y = y - 100
self.device.move_to(x, y, z, 0.0)
y = y - 40
x = x - 40
self.device.move_to(x, y, z, 0.0)
y = y - 60
x = x - 60
self.device.move_to(x, y, z, 0.0)
x = x - 80
z = z - 70
self.device.move_to(x, y, z, 0.0)
y = y + 40
self.device.move_to(x, y, z, 0.0)
# x -80
# z - 70
# y +40
def _init_ui_connect(self):
_translate = QtCore.QCoreApplication.translate
self.btn_new.clicked.connect(self._set_user_set_pos) #get data
self.btn_move.clicked.connect(self.action)
self.btn_go.clicked.connect(self.trans)
self.comboBox.insertItem(0, "點1")
self.lineEdit.textEdited.connect(self.set_time)
self.X_edit.textEdited.connect(self.set_x)
self.Y_edit.textEdited.connect(self.set_y)
self.Z_edit.textEdited.connect(self.set_z)
self.R_edit.textEdited.connect(self.set_r)
self.comboBox.currentIndexChanged.connect(self.switch_point)
self.lineEdit.setText(_translate("Form", str(2)))
self.btn_rotate_j1_90.clicked.connect(self.rotate_minus90)
self.btn_reverse.clicked.connect(self.rotate_90)
self.streampopup = MyPopup(dobot=self)
self.streampopup.show()
self.setWindowFlags(Qt.WindowStaysOnTopHint)
#self.btn_detect.clicked.connect(self.single_detect)
#button.clicked.connect(lambda: calluser(name))
self.interval = 1
self.input_interval.textEdited.connect(self.set_inputinterval)
self.btn_x_increase.clicked.connect(
lambda: self.move_xyz(self.interval, 0, 0))
self.btn_x_reduce.clicked.connect(
lambda: self.move_xyz(-self.interval, 0, 0))
self.btn_y_increase.clicked.connect(
lambda: self.move_xyz(0, self.interval, 0))
self.btn_y_reduce.clicked.connect(
lambda: self.move_xyz(0, -self.interval, 0))
self.btn_z_increase.clicked.connect(
lambda: self.move_xyz(0, 0, self.interval))
self.btn_z_reduce.clicked.connect(
lambda: self.move_xyz(0, 0, -self.interval))
self.btn_return.clicked.connect(self.return_ori)
self.btn_update_loc.clicked.connect(self.print_location)
self.th = Thread(self)
self.th.main = self
self.th.changePixmap.connect(self.setImage)
self.th.addNewObj.connect(self.add_obj)
self.th.start()
self.stream_label.resize(1280, 720)
self.stream_label.move(0, 0)
self.btn_save.clicked.connect(self.save_img)
self.btn_suck.clicked.connect(self.run_suck)
self.btn_free.clicked.connect(self.free)
self.agv = threading.Thread(target=self.handleAGV)
self.agv.main = self
self.agv.start()
def cleanScan(self):
self.isScanDone = True
def add_obj(self, name, objList):
_translate = QtCore.QCoreApplication.translate
self.objArr = []
j = 0
self.nowItem = []
if objList == []:
return
for obj in objList:
try:
self.nowItem.append({"name": name[j], "pos": obj})
except:
self.nowItem.append({"name": "不明物", "pos": obj})
#self.objArr[j][2].click.connect(self.get_items)
j += 1
self.isScanDone = True
def get_items(self, idi):
btn_id = idi
print("id is " + str(btn_id))
print("click " + str(btn_id))
x = self.nowItem[btn_id]["pos"][0]
y = self.nowItem[btn_id]["pos"][1]
print("go to " + str(x) + " " + str(y))
##在這裡做座標轉換
y1 = float(-55 * x / 228 + 204.1228)
x1 = float(-5 * y / 19 + 414.4737)
##在上面做座標轉換
self.device.move_to(x1, y1, -20, 0, wait=True)
self.run_suck()
time.sleep(1)
self.device.move_to(260, 0, 100, 0, wait=True)
self.free
def run_suck(self):
self.device.grip(True)
def free(self):
#self.device.grip(False)
self.device.suck(False)
def print_location(self):
(x, y, z) = self.get_pos()
print("location\n")
print(x)
print(y)
print(z)
def mousePressEvent(self, event):
self.x = event.x()
self.y = event.y()
# get depth
self.depth = self.th.get_depth(self.x, self.y)
if self.x <= 1280 and self.y <= 720:
#print (x,y)
self.label_X.setText(str(self.x))
self.label_Y.setText(str(self.y))
self.update()
def save_img(self):
global signal
signal.sig.emit()
@QtCore.pyqtSlot(QtGui.QImage)
def setImage(self, image):
self.stream_label.setPixmap(QPixmap.fromImage(image))
self.update()
def set_inputinterval(self, content):
self.interval = float(content)
def closeEvent(self, event):
self.th.stop()
self.streampopup.quit()
def single_detect(self):
self.th.setFinish()
def save_img(self):
global signal
signal.sig.emit()
def switch_point(self, index):
try:
_translate = QtCore.QCoreApplication.translate
self.lineEdit_1.setText(
_translate("Form", str(self.user_set_pos[index][0])))
self.lineEdit_2.setText(
_translate("Form", str(self.user_set_pos[index][1])))
self.lineEdit_3.setText(
_translate("Form", str(self.user_set_pos[index][2])))
self.lineEdit_4.setText(
_translate("Form", str(self.user_set_pos[index][3])))
except Exception as e:
print(e)
def set_time(self, content):
try:
self.waitTime = float(content)
except Exception as e:
print("輸入格式錯誤")
print(e)
def set_x(self, content):
try:
tmp = self.user_set_pos[self.comboBox.count() - 1]
print(tmp)
(x, y, z, r) = tmp
self.user_set_pos[self.comboBox.count() - 1] = (float(content), y,
z, r)
print(content)
except Exception as e:
print("輸入格式錯誤")
print(e)
def set_y(self, content):
try:
tmp = self.user_set_pos[self.comboBox.count() - 1]
(x, y, z, r) = tmp
self.user_set_pos[self.comboBox.count() - 1] = (x, float(content),
z, r)
except Exception as e:
print("輸入格式錯誤")
print(e)
def set_z(self, content):
try:
tmp = self.user_set_pos[self.comboBox.count() - 1]
(x, y, z, r) = tmp
self.user_set_pos[self.comboBox.count() - 1] = (x, y,
float(content), r)
except Exception as e:
print("輸入格式錯誤")
print(e)
def set_r(self, content):
try:
tmp = self.user_set_pos[self.comboBox.count() - 1]
(x, y, z, r) = tmp
self.user_set_pos[self.comboBox.count() - 1] = (x, y, z,
float(content))
except Exception as e:
print("輸入格式錯誤")
print(e)
def get_pos(self):
_translate = QtCore.QCoreApplication.translate
try:
(x, y, z, r, j1, j2, j3, j4) = self.device.pose()
self.user_set_pos[0] = (x, y, z, r)
except Exception as e:
(x, y, z) = (0, 0, 0)
self.user_set_pos[0] = (0, 0, 0, 0)
pos = self.user_set_pos[0]
self.X_output.setText(_translate("Form", str(round(pos[0], 5))))
self.X_edit.setText(_translate("Form", str(round(pos[0], 5))))
self.Y_output.setText(_translate("Form", str(round(pos[1], 5))))
self.Y_edit.setText(_translate("Form", str(round(pos[1], 5))))
self.Z_output.setText(_translate("Form", str(round(pos[2], 5))))
self.Z_edit.setText(_translate("Form", str(round(pos[2], 5))))
self.R_output.setText(_translate("Form", str(round(pos[3], 5))))
self.R_edit.setText(_translate("Form", str(round(pos[3], 5))))
return (x, y, z)
def action(self):
test = []
for i in range(self.comboBox.count()):
print(str(self.user_set_pos[i]))
(x, y, z, r) = self.user_set_pos[i]
try: #call pydobot
self.device.move_to(x, y, z, r, wait=True)
time.sleep(self.waitTime)
self.get_pos()
test.append(self.device.pose())
except Exception as e:
print("輸入格式錯誤")
print("錯誤訊息： " + str(e))
with open('pos.txt', 'w') as f:
for item in test:
f.write(str(item))
f.write("\n")
def handleAGV(self):
HOST = ''
PORT = 8000
ADDR = (HOST, PORT)
self.tcpSerSock = socket(AF_INET, SOCK_STREAM)
self.tcpSerSock.bind(ADDR)
self.tcpSerSock.listen()
print('wating for AGV connection...')
test = True
waitFish = False
while (1):
print("done\n")
self.tcpCliSock, self.addr = self.tcpSerSock.accept()
print('...connected from:', self.addr)
BUFSIZE = 1024
data = self.tcpCliSock.recv(BUFSIZE)
print(data.decode())
if (data.decode() == "OK"):
print("AGV arrive!")
self.th.yolo_t.is_always_detect = True
try:
while (self.isScanDone == False):
continue
if (len(self.nowItem) == 0):
self.tcpCliSock.send(str("no").encode())
self.tcpCliSock.close()
self.isScanDone = False
time.sleep(4)
else:
x = self.nowItem[0]["pos"][0]
y = self.nowItem[0]["pos"][1]
print("go to " + str(x) + " " + str(y))
self.y1 = float(-55 * x / 228 + 204.1228)
self.x1 = float(-5 * y / 19 + 414.4737)
self.return_ori()
print("x is " + str(x))
self.x = int(x)
self.y = int(y)
self.trans()
#time.sleep(4)
#self.isScanDone=False
#self.th.yolo_t.is_always_detect=True
#while(self.isScanDone==False):
#continue
#x=self.nowItem[0]["pos"][0]
#y=self.nowItem[0]["pos"][1]
#self.go_to_depth(x,y)
self.run_suck()
time.sleep(2)
self.return_ori()
print("AGV get!")
self.tcpCliSock.send(str("yes").encode())
print("done\n")
self.isScanDone = False
self.nowItem = []
time.sleep(4)
waitFish = True
except Exception as e:
self.tcpCliSock.send(str("no").encode())
self.isScanDone = False
self.nowItem = []
print("stop during thread pool")
print(e)
else:
print("release")
self.free()
def _set_user_set_pos(self):
try:
self.comboBox.addItem("點" + str(self.comboBox.count() + 1))
self.user_set_pos.append((0, 0, 0, 0))
print(str(self.user_set_pos))
except Exception as e:
print("輸入格式錯誤")
print("錯誤訊息： " + str(e))
def onBindingUi(self):
pass
def _del_(self):
self.tcpSerSock.close()
def _set_user_set_pos(self):
try:
self.comboBox.addItem("點" + str(self.comboBox.count() + 1))
self.user_set_pos.append((0, 0, 0, 0))
print(str(self.user_set_pos))
except Exception as e:
print("輸入格式錯誤")
print("錯誤訊息： " + str(e))
def move_xyz(self, x_, y_, z_):
(x, y, z) = self.get_pos()
self.device.move_to(x + x_, y + y_, z + z_, 0.0, wait=True)
def moveToken(sourceSpace, targetSpace, colorToMove, clearing=False):
print("moveToken called with: {} {} {}".format(str(sourceSpace),
str(targetSpace),
str(colorToMove)))
global tokensInPlay
global playArea
# use sourcePosition and targetPosition to lookup the xyz values to call with
if not clearing:
targetPosition = playArea[str(targetSpace)]
sourcePosition = orangeStorage[str(
sourceSpace)] if colorToMove == "orange" else blueStorage[str(
sourceSpace)]
playArea[str(targetSpace)].color = colorToMove
tokensInPlay += 1
else:
sourcePosition = playArea[str(sourceSpace)]
targetPosition = orangeStorage[str(
targetSpace)] if colorToMove == "orange" else blueStorage[str(
targetSpace)]
playArea[str(sourceSpace)].color = "empty"
tokensInPlay -= 1
if simulate:
print("Would move token color {} from {} to {}.".format(
colorToMove.upper(), "({}, {})".format(str(sourcePosition.xPos),
str(sourcePosition.yPos)),
"({}, {})".format(str(targetPosition.xPos),
str(targetPosition.yPos))))
else:
port0 = list_ports.comports()[0].device
device0 = Dobot(port=port0, verbose=False)
(x, y, z, r, j1, j2, j3, j4) = device0.pose()
#file.write(datetime.datetime.now())
# posLog("Button1")
# posLog(f'{x - x1} {y - y1} {z - z1} {j1} \n')
# pick up next orange piece (need to figure out how to find next) (pick up first orange)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] + 20,
0,
wait=True)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] - 1,
0,
wait=False)
device0.suck(True)
device0.move_to(bootOffset["x"] + sourcePosition.xPos,
bootOffset["y"] + sourcePosition.yPos,
bootOffset["z"] + 20,
0,
wait=False)
# place piece in grid 1
device0.move_to(bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] + 20,
0,
wait=False)
device0.move_to(bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] - 1,
0,
wait=False)
device0.suck(False)
sleep(0.5)
device0.move_to(
bootOffset["x"] + targetPosition.xPos,
bootOffset["y"] + targetPosition.yPos,
bootOffset["z"] + 20,
0,
wait=True) # we wait until this movement is done before continuing
# go to neutral pose
device0.move_to(bootOffset["x"] - 36,
bootOffset["y"] - 56,
bootOffset["z"] + 20,
0,
wait=True)
"""
get arm position of picking object using verbose mode.
2018-06-01 msrks
"""
import time
from glob import glob
from pydobot import Dobot
available_ports = glob('/dev/cu*usb*')
device = Dobot(port=available_ports[0], verbose=True)
time.sleep(0.5)
device.close()
"""@Author: Sameer Kesava"""
from google import auth #for authorization
import os
import time
import dialogflow #Google Natural Language Processing API
from pydobot import Dobot # Dobot
serial_port = input('Enter the serial port connecting the Dobot: ')
dobot = Dobot(port=serial_port)
# Set the speed of the Dobot
speed = 100
dobot.speed(speed)
json_file = input('Enter path to the json credentials file: ')
#Authorization to login to the project chosen during gcloud init
os.environ['GOOGLE_APPLICATION_CREDENTIALS'] = json_file
credentials, project = auth.default()
#Creating a session using the credentials
session_client = dialogflow.SessionsClient(credentials=credentials)
session_ID = input('Enter a name for session id: ')
#Final step setting up a session
session = session_client.session_path(project, session_ID)
# Copyright (c) 2020 Sagar Gubbi. All rights reserved. # Use of this source code is governed by a BSD-style license that can be # found in the LICENSE file. from pydobot import Dobot d = Dobot(port='/dev/ttyUSB0', verbose=False) d.wait_for_cmd(d.home()) d.close()
from serial.tools import list_ports
from pydobot import Dobot
port0 = list_ports.comports()[0].device
device = Dobot(port=port0, verbose=True)
while 1 < 2:
(x, y, z, r, j1, j2, j3, j4) = device.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
#device.speed(100, 100)
#device.move_to(x + 20, y+20, z+20, r-20, wait=False)
#device.suck(True)
#device.move_to(x, y, z, r, wait=False) # we wait until this movement is done before continuing
#device.suck(False)
device.close()
from serial.tools import list_ports
from pydobot import Dobot
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
(l) = device.pose_l()
device.grip(False)
device.move_to_with_l(
228, -65, 20, -17, 0,
wait=True) # we wait until this movement is done before continuing
device.move_to_with_l(
228, -65, -47, -17, 0,
wait=True) # we wait until this movement is done before continuing
device.grip(True)
device.move_to_with_l(
228, -65, -47, -17, 0,
wait=True) # we wait until this movement is done before continuing
device.move_to_with_l(
228, -65, 20, -17, 0,
wait=True) # we wait until this movement is done before continuing
device.move_to_with_l(
228, -65, 40, -17, 211,
wait=True) # we wait until this movement is done before continuing
device.grip(False)
device.suck(False)
device.close()
def __init__(self, port):
self.device = Dobot(port=port, verbose=True)
self.home_x = 200
self.home_y = 0
self.home_z = 135
from serial.tools import list_ports from pydobot import Dobot port = list_ports.comports()[0].device device = Dobot(port=port, verbose=True) device.home() (x, y, z, r, j1, j2, j3, j4) = device.pose() (l) = device.pose_l() device.close()
