device_info = swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): swift.set_speed_factor(0.0005) swift.set_mode(0) swift.reset(wait=True, speed=10000) swift.set_position(x=200, speed=10000 * 20) swift.set_position(y=100) swift.set_position(z=100) swift.flush_cmd(wait_stop=True) swift.set_polar(stretch=200, speed=10000 * 20) swift.set_polar(rotation=90) swift.set_polar(height=150) print(swift.set_polar(stretch=200, rotation=90, height=150, wait=True)) swift.flush_cmd() # time.sleep(1) # print('mv 1') # swift.set_position(x=0, y=0, z=0, speed=10000*20) # swift.flush_cmd(wait_stop=True) # time.sleep(1) # print('mv 2') # swift.set_position(x=100, y=100, z=50, speed=10000*20) # swift.flush_cmd(wait_stop=True)
class uArmSwift: def __init__(self): self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}, cmd_pend_size=2, callback_thread_pool_size=1) if not self.swift.connected: print('lose connect') self.swift.waiting_ready() device_info = self.swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] if firmware_version and not firmware_version.startswith( ('0.', '1.', '2.', '3.')): self.swift.set_speed_factor(0.00005) self.swift.set_mode(0) self.speed = 500000 self.swift.set_wrist(angle=90) self.wristAngle = self.swift.get_servo_angle(0, timeout=10) def set_position(self, x=100, y=0, z=100, wait=False): self.swift.set_position(x, y, z, speed=self.speed, wait=wait) def set_polar(self, stretch, rotation, height, wait=False): self.swift.set_polar(stretch, rotation, height, speed=self.speed, wait=wait) def set_servo_angle(self, num, angle, wait=False): if num < 0 and num > 3: print("num is wrong") self.swift.set_servo_angle(num, angle, wait, speed=self.speed, wait=wait) def set_wrist(self, angle=90, wait=False): # 第四电机 self.swift.set_wrist(angle, wait) def set_pump(self, on=False): self.swift.set_pump(on) def set_buzzer(self, freq=1000, duration=1, wait=False): self.swift.set_buzzer(freq, duration, wait) def get_position(self): return self.swift.get_position() def get_servo_angle(self, id=0): return self.swift.get_servo_angle(id, timeout=10) def is_moving(self): return self.swift.get_is_moving() def disconnect(self): self.swift.disconnect()
device_info = swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] #if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')): # swift.set_speed_factor(0.0005) #set for general mode swift.set_mode(0) ''' swift.reset(wait=True, speed=100000) swift.set_position(x=200, speed=100000) swift.set_position(y=100) swift.set_position(z=100) swift.flush_cmd(wait_stop=True) ''' ''' swift.set_polar(stretch=150, speed=100000) swift.set_polar(rotation=0) swift.set_polar(height=80) print(swift.set_polar(stretch=150, rotation=0, height=80, wait=True)) swift.flush_cmd() ''' ''' swift.set_polar(stretch=150, rotation=90, height=150, speed=100000, wait=True) print(swift.set_polar(stretch=150, rotation=90, height=150, wait=True)) swift.set_polar(stretch=300, rotation=90, height=30, speed=100000, wait=True) print(swift.set_polar(stretch=300, rotation=90, height=30, wait=True)) ''' speed = 30 swift.reset(wait=True, speed=speed)
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..')) from uarm.wrapper import SwiftAPI swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) swift.waiting_ready(timeout=3) device_info = swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] #if firmware_version and not firmware_version.startswith(('0.', '1.', '2.', '3.')): # swift.set_speed_factor(0.0005) #set for general mode swift.set_mode(0) swift.reset(wait=True, speed=250) swift.set_polar(stretch=150, speed=250) swift.set_polar(rotation=0, speed=250) swift.set_polar(height=100, speed=250) swift.flush_cmd(wait_stop=True) swift.set_polar(stretch=200, speed=250) swift.set_polar(rotation=90, speed=250) swift.set_polar(height=50, speed=250) swift.flush_cmd(wait_stop=True) swift.set_polar(stretch=300, speed=250) swift.set_polar(rotation=180, speed=250) swift.set_polar(height=150, speed=250) swift.flush_cmd(wait_stop=True) swift.reset(wait=True, speed=100)
speed = 100000 # swift.reset(speed=speed) while swift.connected: swift.set_position(x=300, y=0, z=150, speed=speed) swift.set_position(z=50) swift.set_position(z=150) swift.set_position(x=200, y=100, z=100) swift.set_position(z=50) swift.set_position(z=150) swift.set_position(x=200, y=0, z=150) swift.set_position(z=50) swift.set_position(z=150) swift.set_polar(stretch=200, rotation=90, height=150, speed=speed) swift.set_polar(stretch=200, rotation=45, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=90, speed=speed) swift.set_polar(stretch=200, rotation=135, height=200, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=200, rotation=135, height=150, speed=speed) swift.set_polar(stretch=250, rotation=135, height=150, speed=speed) swift.set_servo_angle(0, 45, speed=speed) swift.set_servo_angle(0, 135, speed=speed) swift.set_servo_angle(1, 45, speed=speed) swift.set_servo_angle(1, 90) swift.set_servo_angle(2, 45)
from uarm.wrapper import SwiftAPI """ api test: move """ swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) swift.waiting_ready(timeout=3) device_info = swift.get_device_info() print(device_info) firmware_version = device_info['firmware_version'] swift.set_mode(0) swift.reset(wait=True, speed=250) swift.set_position(x=300, speed=250) swift.set_position(y=200) swift.set_position(z=100) swift.flush_cmd(wait_stop=True) swift.set_polar(stretch=300, rotation=0, height=100, wait=True) swift.set_polar(stretch=300, speed=250) swift.set_polar(rotation=0) swift.set_polar(height=100) print() swift.flush_cmd() time.sleep(3) swift.disconnect()