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()
class UArm_SDK(object):
def __init__(self):
'''
connect to UArm
'''
self.swift = SwiftAPI()
self.swift.connect()
self.swift.get_power_status()
print(self.swift.get_device_info())
self.swift.reset(wait=True) # back to home position
print('init complete')
self.gripper_temp = 0 # keep track of gripper state
def __del__(self):
'''
disconnect UArm
'''
self.swift.disconnect()
print('uarm disconnected')
def set_servo_angle(self, joint_angles, dt):
'''
set servo angle via SDK
input:
joint_angles, 5-vector: [theta1, theta2, theta3, theta4, pump state] in degrees
dt, time step
'''
wait = True
self.swift.set_servo_angle(servo_id=0,
angle=joint_angles[0] + 90,
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=1,
angle=joint_angles[1],
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=2,
angle=joint_angles[2] - joint_angles[1],
speed=5000,
wait=wait)
time.sleep(dt / 4)
self.swift.set_servo_angle(servo_id=3,
angle=180 - joint_angles[3],
speed=5000,
wait=wait)
time.sleep(dt / 4)
if joint_angles[4] > 0:
self.swift.set_pump(on=True)
elif joint_angles[4] == 0:
self.swift.set_pump(on=False)
else:
print("ERROR")
def control_uarm_via_traj(self, position, wrist_angle, pump_state, dt):
'''
set end effector position, wrist angle and pump state via SDK
input:
position, 3-vector: [px, py, pz]
wrist_angle: wrist angle in rad
pump_state: bool, 0 - off, 1 - on
'''
px, py, pz = position[0], position[1], position[2]
# conver m to mm
px *= 1000
py *= 1000
pz *= 1000
# change end effector position
e = self.swift.set_position(x=px, y=py, z=pz, speed=100000, wait=True)
print(e)
# change wrist angle
self.swift.set_wrist(90 - wrist_angle * 180 / PI)
if self.gripper_temp == 0 and pump_state == 1:
# enable suction cup
self.swift.set_pump(on=True, wait=True)
print('pump on')
self.gripper_temp = 1
if self.gripper_temp == 1 and pump_state == 0:
# disable suction cup
self.swift.set_pump(on=False, wait=True)
print('pump off')
self.gripper_temp = 0
time.sleep(dt)
class uArm():
def __init__(self):
self.scope = 10
self.x0 = 160
self.y0 = 0
self.swift = SwiftAPI(filters={'hwid':'USB VID:PID=2341:0042'})
self.swift.waiting_ready(timeout=3)
# self.swift.set_speed_factor(0.005) # if you change this, be prepared for different movements!
self.swift.set_mode(mode=0)
time.sleep(0.5)
self.swift.set_servo_angle(angle=90)
self.swift.set_wrist(angle=90)
self.swift.set_position(x=200,y=0,z=20) # start it off with a salute
self.swift.set_buzzer(frequency=1000, duration=1) # signal ready
self.lstValidCharSet = ['?','A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z',\
'-','0','1','2','3','4','5','6','7','8','9']
self.lstLetter = [self.QuestionMark, self.LetterA, self.LetterB, self.LetterC, self.LetterD, self.LetterE, self.LetterF,\
self.LetterG, self.LetterH, self.LetterI, self.LetterJ, self.LetterK, self.LetterL, self.LetterM, self.LetterN,\
self.LetterO, self.LetterP, self.LetterQ, self.LetterR, self.LetterS, self.LetterT, self.LetterU, self.LetterV,\
self.LetterW, self.LetterX, self.LetterY, self.LetterZ, self.Hyphen, self.Number0, self.Number1, self.Number2,\
self.Number3, self.Number4, self.Number5, self.Number6, self.Number7, self.Number8, self.Number9]
def __del__(self):
input("PLEASE SUPPORT uARM ARM!!, then strike ENTER to continue ...")
self.swift.set_buzzer(frequency=600, duration=2)
self.swift.set_position(x=200,y=0,z=20)
self.swift.flush_cmd()
self.swift.disconnect()
del self.swift
self.swift = None
def arm(self):
"""
Using this method to allow raw access to the uArm if required
"""
return self.swift
def insert_pen(self):
self.swift.set_buzzer(frequency=1000, duration=0.5) # signal ready
self.swift.set_servo_angle(angle=90)
time.sleep(0.5)
self.swift.set_wrist(angle=90)
time.sleep(0.5)
self.swift.set_position(x=200,y=0,z=0)
while (self.swift.get_is_moving()):
continue
input("Set pen in universal holder, then strike ENTER to continue ...")
self.swift.set_position(x=200,y=0,z=10)
return
def pen_up(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 10)
time.sleep(0.5)
return 10
def pen_down(self):
while (self.swift.get_is_moving()):
continue
x, y, z = self.swift.get_position()
self.swift.set_position(x, y, 0)
time.sleep(0.5)
return 0
def setScope(self, strName):
"""
based upon the length of strName, determine the scope (char width) and starting X, Y positions
assuming that the center of the page is 160,0
x extent is 110 - 210, y extent 80 - (-80) (x axis is PARALLEL to the arm, short edge of the paper)
"""
if type(strName) == str:
strName = strName[:26] # going to truncate user input to a 26 characters max
intLenName = len(strName)
if (intLenName < 4):
self.scope = 40.0 # keeping it real
else:
self.scope = math.floor(160.0/(intLenName * 1.1))
self.x0 = 160 - (0.5 * self.scope)
self.y0 = self.scope * intLenName * 1.1 / 2
return
def LetterSelect(self, c):
"""
given char c, return the plotting function
index 0 resolves to the question mark character
"""
index = 0
if type(c) == str:
if c == ' ':
return self.SpaceBar
else:
c = c.upper()
if c in self.lstValidCharSet:
index = self.lstValidCharSet.index(c) - self.lstValidCharSet.index('A') + 1 # 0th item is '?'
# if c in ['A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P','Q','R','S','T','U','V','W','X','Y','Z']:
# index = ord(c) - ord('A') + 1 # using question mark as the 0th index item
return self.lstLetter[index] # return the function to use
class uart:
available_pixel = {} #rgb values of all the paints
swift = None #robot arm object
device_info = None
firmware_version = None
image = None #image you're trying to paint
canvas = None #image of the canvas as you're working on it
canvas_corners = None #points of the four corners of the canvas (in robot arm coords)
ptransform = None #contains the warped image of
M = None #transformation matrix
xScale = None
yScale = None
#
# __init__
# im = the image you're trying to paint
# pixels = the dictionary of colors you have access to
# initialized = a list of booleans determining which values you will initialize
# [ True = available_pixel uses pixels parameter otherwise use defaults,
# True = set swift to SwiftAPI object otherwise set them to None,
# True = set image to a blank white 200x200 image,
# True = calibrate canvas_corners using setFourCorners otherwise set to a preset
# True = set ptransform using the webcam
# ]
#
def __init__(self, im, pixels, initialized):
if initialized[0]:
self.available_pixel = pixels
else:
self.available_pixel = {'red':[255,0,0], 'green':[0,255,0], 'blue':[0,0,255],'magenta':[255,0,255], 'tomato':[255,99,71], 'lawn green':[124,252,0]}
if initialized[1]:
self.swift = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'})
self.device_info = self.swift.get_device_info()
self.firmware_version = self.device_info['firmware_version']
self.swift.set_mode(0)
if initialized[2]:
self.image = im
if initialized[3] and initialized[1]:
print("moving")
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
# self.swift.set_wrist(20)
# time.sleep(1)
# self.swift.set_wrist(90)
print("Setting four corners; input tl, tr, bl or br")
self.canvas_corners = self.setFourCorners()
else:
self.swift.set_position(x=150, y=0, z=50, speed = 10000, cmd = "G0")
self.canvas_corners = [
[263,50,103], #tl
[263,-50,103],#tr
[241,50,-12],#bl
[241,-50,-12]]#br
print("Setting four corners to default coordinates")
if initialized[4]:
_, cap = cv2.VideoCapture(0).read()
self.ptransform = perspective.PerspectiveTransform(cap)
self.M = self.get_m(200,200)
self.xScale = self.get_scale(len(im[0]),[self.canvas_corners[0],self.canvas_corners[1]])
self.yScale = self.get_scale(len(im),[self.canvas_corners[0],self.canvas_corners[2]])
print("Arm all set up!")
#
# new xy to xyz function using algebra/geometry
#
def xy_to_xyz2(self, xy):
#print("xy", xy)
#print("xscale", self.xScale)
#print("yscale", self.yScale)
out = np.add(np.multiply(xy[0],self.xScale) + np.multiply(xy[1],self.yScale), self.canvas_corners[0])
print(out)
return out
#
# GET SCALE
#
def get_scale(self, pix, corners):
dif = np.subtract(corners[0], corners[1])
return -(dif/pix)
#
# HEAT MAP
#
def generate_heatmap(self):
image = self.image.astype(dtype='int32')
canvas = self.ptransform.warped.astype(dtype='int32')
subtraction = np.subtract(image,canvas)
print(subtraction)
heatmap = np.full(im.shape,255, dtype='uint8')
print(heatmap.shape)
for i in range(subtraction.shape[0]):
for j in range(subtraction.shape[1]):
if (subtraction[i][j] < 0):
heatmap[i][j][0] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
elif (subtraction[i][j] > 0):
heatmap[i][j][2] -= abs(subtraction[i][j])
heatmap[i][j][1] -= abs(subtraction[i][j])
return heatmap
#
# GETS CLOSEST COLOR
#
def get_closest_color(self, chosen_pixel):
available_pixel = self.available_pixel
distances = []
for key, value in available_pixel.items():
a1 = np.asarray(value)
c1 = np.asarray(chosen_pixel)
curr_dist = np.linalg.norm(a1 - c1)
distances += [curr_dist]
if(curr_dist == min(distances)):
curr_key = key
return curr_key
#
# move_to_file
#
def move_to_file(self, filename):
var = []
count = 0
lines = open(filename, "r").read().split('\n')
x,y,z,f,angle = 0
moveArm,moveWrist = False
for i in range(len(lines)):
for word in lines[i].split(' '):
if(word is 'G0'):
moveArm = True
if(word[0] is 'X'):
x = float(word[1:])
elif(word[0] is 'Y'):
y = float(word[1:])
elif(word[0] is 'Z'):
z = float(word[1:])
elif(word[0] is 'F'):
f = float(word[1:])
elif(word is 'WA'):
moveWrist = True
angle = float(word[1:])
if(moveArm):
self.swift.set_position(x=x, y=y, z=z, speed =f, cmd = "G0")
moveArm = False
time.sleep(1)
if(moveWrist):
self.swift.set_wrist(angle)
moveWrist = False
time.sleep(1)
coordinates.close()
#
# SETTING FOUR CORNERS
#
def setFourCorners(self):
speed_s = 10000
delay = 1
cmd_s = 'G0'
todo = 4
coords = [[], [], [], []]
while todo >0:
key = input()
if key == "tr":
newCoord = self.swift.get_position()
coords[1] = newCoord
todo -= 1
print("Top right coordinate saved as ", newCoord)
elif key == "tl":
newCoord = self.swift.get_position()
coords[0] = newCoord
todo -= 1
print("Top left coordinate saved as", newCoord)
elif key == "bl":
newCoord = self.swift.get_position()
coords[2] = newCoord
todo -= 1
print("Bottom left coordinate saved as", newCoord)
elif key == "br":
newCoord = self.swift.get_position()
coords[3] = newCoord
todo -= 1
print("Bottom right coodirnate saved as", newCoord)
return coords
#
# SAVED COORDS TO FILE
#
def saveCoordsToFile(self, fn):
delay = 1
coords = []
while True:
key = input()
if key == "save":
newCoord = swift.get_position()
coords.append(newCoord)
print("New coordinate saved as" + str(newCoord))
elif key == "done":
break
elif key.isdigit():
coords.append(int(key))
if os.path.exists(fn + ".uar"):
os.remove(fn + ".uar")
file = open(fn + ".uar", "w+")
for c in coords:
if not check(c):
file.write("G0 X%f Y%f Z%f F5000\n" %(c[0], c[1], c[2]))
else:
self.set_wrist(c)
file.write("WA " %(c))
coordinates.close()
moveTo(fn + ".uar")
return coords
def check(inp):
try:
num_float = float(inp)
return True
except:
return False
#
# GET M
#
def get_m(self, width, height):
A = np.transpose(self.canvas_corners)
print(A)
B = [[0,0,1],[width,0,1],[0,height,1],[width,height,1]]
B = np.transpose(B)
print(B)
pinvB = np.linalg.pinv(B)
print(pinvB)
M = np.matmul(A, np.linalg.pinv(B))
print(M)
return M
#
# xytoxyz
#
def xy_to_xyz(self,xy):
xyz = [xy[0],xy[1],1]
xyz = np.transpose(xyz)
return np.matmul(self.M,xyz)
#
# go to position
#
def go_to_position(self, xyz, f):
print('going to : ', xyz)
self.swift.set_position(x=xyz[0], y=xyz[1], z=xyz[2], speed = f, cmd = "G0")
#: time.sleep(1)
#
# draw a line
#
# start and end: [x,y]
def draw_line(self, start, end):
startxyz = self.xy_to_xyz2(start)
endxyz = self.xy_to_xyz2(end)
start_pre = [startxyz[0]-20, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-20, endxyz[1], endxyz[2]]
print("going to start pre")
self.go_to_position(start_pre, 10000)
print("going to start")
self.go_to_position(startxyz, 5000)
print("going to end")
self.go_to_position(endxyz, 5000)
print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
#
def draw_line2(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
start_pre = [startxyz[0]-5, startxyz[1], startxyz[2]]
end_post = [endxyz[0]-5, endxyz[1], endxyz[2]]
#print("going to start pre")
self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
#print("going to end post")
self.go_to_position(end_post, 10000)
#
#
# draws a line, by moving across a list of points
# does NOT go to pre and post painting position
#
def draw_line3(self, points):
startxyz = self.xy_to_xyz2(points[0])
endxyz = self.xy_to_xyz2(points[-1])
#print("going to start pre")
#self.go_to_position(start_pre, 10000)
for point in points:
point_xyz = self.xy_to_xyz2(point)
self.go_to_position(point_xyz, 5000)
import sys
import time
from datetime import datetime
from uarm.wrapper import SwiftAPI
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
speed = 20000
swift2 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Wischer
swift2.waiting_ready()
swift1 = SwiftAPI(filters={'hwid': 'USB VID:PID=2341:0042'}) # Stift
swift1.waiting_ready()
# Stift Setting
swift1.set_position(150, 0, 10, speed=speed, timeout=20)
swift1.set_wrist(90)
time.sleep(2)
swift1.set_gripper(True)
time.sleep(2)
swift1.set_position(150, 0, 20, speed=speed, timeout=20)
time.sleep(2)
# Wischer Setting
swift2.set_position(150, 0, 0, speed=speed, timeout=20)
swift1.set_wrist(90)
time.sleep(2)
swift2.set_gripper(True)
swift2.set_position(110, 0, 20, speed=speed, timeout=20)
time.sleep(2)
coords = open("output.txt", "r")
lines = coords.readlines()
for coord in lines:
swift.reset()
data = coord.split()
x = data[1]
y = data[0]
x_out = -0.3498 * int(float(x)) / 1932 * 2016 + 524.2 #+0.01*int(y)
y_out = -0.355 * int(
float(y)) / 1449 * 1504 + 341 - 0.01 * (1400 - int(float(x)))
swift.set_position(x=x_out, y=y_out, z=15)
swift.set_wrist(90)
time.sleep(0.2)
#down = input("Down? ")
swift.set_pump(True)
swift.set_position(x=x_out, y=y_out, z=0)
#up = input("Up? ")
time.sleep(0.2)
swift.set_position(x=x_out, y=y_out, z=30)
ang1 = swift.get_servo_angle()[0]
x = data[3]
y = data[2]
r = data[4]
x_out = -0.3498 * int(float(x)) + 524.2 #+0.01*int(y)
y_out = -0.355 * int(float(y)) + 341 - 0.01 * (1400 - int(float(x)))
