def dobot():
port = list_ports.comports()[0].device
device = Dobot(port=port, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device.pose()
y += 50
device.move_to(x, y, z, r, wait=False)
x -= 15
device.move_to(x, y, z, r, wait=False)
x += 30
y += 20
device.move_to(x, y, z, r, wait=False)
x += 30
y -= 20
device.move_to(x, y, z, r, wait=False)
x -= 15
device.move_to(x, y, z, r, wait=False)
y -= 50
device.move_to(x, y, z, r, wait=False)
x -= 30
device.move_to(x, y, z, r, wait=False)
device.move_to(
x, y, z, r,
wait=True) # we wait until this movement is done before continuing
device.close()
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 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()
#Sending the streams to the cloud
responses = session_client.streaming_detect_intent(requests)
for response in responses:
print('Intermediate transcript: "{}".'.format(
response.recognition_result.transcript))
# Prints out live speech to text
if response.query_result.query_text is not '':
#If not silent, run below
if response.query_result.fulfillment_messages[0].text.text[
0] == 'STOP':
# Use 'Close the connection' Intent to end the program
dobot.close()
print('Connection Closed. Goodbye!')
break
elif not response.query_result.parameters:
# If no parameter is returned like for "Hello, how are you?"
print(response.query_result)
else:
if len(
response.query_result.parameters.get_or_create_list(
'number-integer').values) != 3:
# If the number of parameters returned is less than 3
print(
# 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()
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
port0 = list_ports.comports()[0].device
port1 = list_ports.comports()[1].device
device0 = Dobot(port=port0, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device0.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device1 = Dobot(port=port1, verbose=True)
(x, y, z, r, j1, j2, j3, j4) = device1.pose()
print(f'x:{x} y:{y} z:{z} j1:{j1} j2:{j2} j3:{j3} j4:{j4}')
device0.home(True)
device0.close()
device1.close()
class RobotOperator:
def __init__(self):
self.rob = None
self.marble_z = -63.7
self.move_z = 18.0
self.marble_point = [
{"x":135.9, "y": 229.1},
{"x": 273.0, "y": 107.8},
{"x": 264.7, "y": -135.5},
{"x": 102.0, "y": -253.0},
]
self.home = {"x": 228.1, "y": -3.5, "z": 86.5}
self.gaze_point = {"x": 295.5, "y":13.9, "z":120.3}
self.op_interval = 0.5
def connect(self):
port = list_ports.comports()[0].device
self.rob = Dobot(port=port, verbose=True)
self.set_speed(False)
time.sleep(1.0)
self.go_home(self.op_interval)
def get_pose(self):
pose = self.rob.get_pose()
print "pose {}".format(pose)
def set_speed(self, bFast):
if bFast:
self.speed = 800
self.acceleration = 1200
self.rob.speed(self.speed, self.acceleration)
else:
self.speed = 300
self.acceleration = 300
self.rob.speed(self.speed, self.acceleration)
def go_interval(self, interval):
if interval is 0.0:
return
elif interval < 0.0:
return
elif interval > 1.5:
time.sleep(1.5)
else:
time.sleep(interval)
def go_home(self, interval=None):
print "[RO]:go home"
self.set_speed(False)
self.x=self.home["x"]
self.y=self.home["y"]
self.z=self.home["z"]
self.rob.jump_to(self.x, self.y, self.z, wait=True)
if interval is None:
time.sleep(self.op_interval)
else:
self.go_interval(interval)
def go_top(self, index, z_move, interval=None, bWait=False):
# print "[RO]:go top. {} {}".format(z_move, interval)
self.x=self.marble_point[index]["x"]
self.y=self.marble_point[index]["y"]
self.z=self.marble_z + z_move
self.rob.move_to(self.x, self.y, self.z, wait=bWait)
if interval is None:
time.sleep(self.op_interval)
else:
self.go_interval(interval)
def go_marble_point(self, index, interval=None):
# print "[RO]go marble point"
self.x=self.marble_point[index]["x"]
self.y=self.marble_point[index]["y"]
self.z=self.marble_z
self.rob.move_to(self.x, self.y, self.z)
if interval is None:
return
else:
self.go_interval(interval)
def gaze(self, interval=0.5):
print "[RO]gaze {}".format(interval)
self.set_speed(False)
self.x = self.gaze_point["x"]
self.y = self.gaze_point["y"]
self.z = self.gaze_point["z"]
self.rob.move_to(self.x, self.y, self.z)
if interval is not None:
self.go_interval(interval)
def marble(self, index, interval):
# print '[RO]:marble loop'
# set
self.set_speed(True)
self.go_top(index, self.move_z,
interval=interval, bWait=False)
# down
self.go_marble_point(index, interval)
def disconnect(self):
self.rob.close()
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)
else:
dobotPort = available_ports[0]
#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.RH_Duration = 60
self.PD_DURATION = 60
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()
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):
global global_status
response = self.device.setHomeParams(self.home_xyzr[0],
self.home_xyzr[1],
self.home_xyzr[2],
self.home_xyzr[3])
#if(response):
# global_status = "Error..";
response = self.device.goHome()
# if(response):
# global_status = "Error..";
def isMoveFinished(self):
global global_step_indicator
global_step_indicator = "isMoveFinished"
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 < 10):
return True
else:
#print("still moving ..");
return False
def move_home(self):
global global_step_indicator
global_step_indicator = "move_home"
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):
global global_step_indicator
global_step_indicator = "move_xy"
self.lastCmd = [x, y, z, r]
response = self.device.go(x, y, z, r)
#MOVJ
# if(response):
# global global_status
# global_status = "Error..";
# 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]
response = self.device.goMovL(x, y, z, r)
#MOVJ
# if(response):
# global global_status
# global_status = "Error..";
# 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,
dontShake=False,
doInOut=False):
global global_step_indicator
global_step_indicator = "shake "
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"
if (not dontShake):
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 shakeHalfUp(self,
x,
y,
z,
r,
shakeDuration,
dispStr,
dontShake=False,
doInOut=False):
global global_step_indicator
global_step_indicator = "shake "
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"
if (not dontShake):
self.move_xy(x, y, (self.z_up + self.z_down) / 2.0, r, 0.1)
self.move_xy(x, y, z - 10, r, 0.1)
tdiff = t_end - time.time()
def up_down_beaker(self, id, dispStr=None):
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) + ": ";
t_end = time.time() + 25
while (not self.isMoveFinished()):
time.sleep(0.01)
if (time.time() > t_end):
global global_step_indicator
global_step_indicator = "timing error.."
break
global global_step_indicator
global_step_indicator = "up_down_beaker " + str(id)
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 - 10,
Beakers[id][3], self.RH_Duration, dispStr)
#x, y, z and shake_duration
elif (id == 1): #dont' shake
self.shake(Beakers[id][0], Beakers[id][1], self.z_down,
Beakers[id][3], Beakers[id][4], dispStr, True)
#x, y, z and shake_duration
else: #this means id is 8 i.e. Pd
self.shake(Beakers[id][0], Beakers[id][1], self.z_down,
Beakers[id][3], self.PD_Duration, dispStr)
#x, y, z and shake_duration
else:
self.shakeHalfUp(Beakers[id][0], Beakers[id][1], self.z_down,
Beakers[id][3], Beakers[id][4], None)
#x, y, z and shake_duration
global global_step_indicator
global_step_indicator = "bottom_shake_finished"
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])
global_step_indicator = "excess_shake_finished"
t_end = time.time() + 25
while (not self.isMoveFinished()):
time.sleep(0.01)
if (time.time() > t_end):
global global_step_indicator
global_step_indicator = "timing error.."
break
global_step_indicator = "excess_shake_move_finished"
def startProcess(self, EC_Voltage, PD_Voltage, RH_Voltage, processType,
pdTimeToDo, rhTimeToDo):
global process_running
process_running = True
global global_status
self.RH_Duration = rhTimeToDo
#if(processType == PROCESS_RH_20):
# self.RH_Duration = 20;
self.PD_Duration = pdTimeToDo
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, global_status)
#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
if (processType == PROCESS_RH_PD):
global_status = "Step 8: Pd Solution"
self.dvc.setVoltage(PD_Voltage)
self.up_down_beaker(8, global_status)
#9
global_status = "Step 9: Pd Dragout"
self.up_down_beaker(9)
#10
global_status = "Step 10: Water"
self.up_down_beaker(10)
#11
if (processType == PROCESS_RH_PD):
global_status = "Step 11: Rh Solution"
else:
global_status = "Step 8: Rh Solution"
self.dvc.setVoltage(RH_Voltage)
self.up_down_beaker(11, global_status)
#12
if (processType == PROCESS_RH_PD):
global_status = "Step 12: Rh Dragout"
else:
global_status = "Step 9: Rh Dragout"
self.up_down_beaker(12)
#13 #repeat of beaker 10
if (processType == PROCESS_RH_PD):
global_status = "Step 13: Water"
else:
global_status = "Step 10: 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..")
