From 902acd4cf6c2ddb344bfb9f1ab16c950824fe495 Mon Sep 17 00:00:00 2001 From: adligeerik Date: Sat, 24 Nov 2018 15:45:52 +0100 Subject: [PATCH] functi --- movearm/move.py | 96 ++++++++++++++++++++++++++++++++++++++++++++++--- 1 file changed, 91 insertions(+), 5 deletions(-) diff --git a/movearm/move.py b/movearm/move.py index 6d272d5..5ab0123 100644 --- a/movearm/move.py +++ b/movearm/move.py @@ -4,7 +4,7 @@ import DobotDllType as dType -''' +""" Six actuators: linear rail base rotation @@ -23,9 +23,16 @@ c.letgo() # let go of candy c.stopcmp() # stoop compressor c.panic() # stops everything -''' +""" + class Candybot: def __init__(self): + self.jointspeed = 100 + self.lastjointspeed = 100 + + self.linearspeed = 100 + self.lastleinearspeed = 100 + CON_STR = { dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError", dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound", @@ -45,7 +52,7 @@ class Candybot: #Async Motion Params Setting dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued = 1) - dType.SetJOGJointParams(self.api, 200, 200, 200, 200, 200, 200, 200, 200, isQueued = 1) + dType.SetJOGJointParams(self.api, 2, 200, 2, 200, 2, 200, 2, 200, isQueued = 1) dType.SetJOGCommonParams(self.api, 100, 100, isQueued = 1) #linear rail @@ -122,7 +129,8 @@ class Candybot: return #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) - threading.Timer(0.1,self.stop).start() + self.lint = threading.Timer(0.2,self.stop) + self.lint.start() def gripp(self): dType.SetEndEffectorGripper(self.api, 1, 1, isQueued=0) @@ -137,4 +145,82 @@ class Candybot: dType.SetEndEffectorGripper(self.api, 0, 0, isQueued=0) def panic(self): - dType.SetQueuedCmdForceStopExec(self.api) \ No newline at end of file + dType.SetQueuedCmdForceStopExec(self.api) + + def getCurrentCmd(self): + return dType.GetQueuedCmdCurrentIndex(self.api) + + def JOGtest(self): + dType.SetJOGCmd(self.api,1,1) + dType.SetJOGCmd(self.api,1,9) + + def JOGtest2(self): + dType.SetJOGLParams(self.api, 100, 200, isQueued=0) + dType.SetJOGCmd(self.api,1,9) + time.sleep(1) + for speed in range(100,10,-10): + time.sleep(0.3) + dType.SetJOGLParams(self.api, speed, 200, isQueued=0) + + + def setparams(self, name, speed): + lookup = {'base' : 0, 'reararm' : 1, 'forearm' : 2, 'gripperroation' :3} + if name == 'rail': + dType.SetJOGLParams(self.api, speed, 200, isQueued=0) + + else: + speeds = [0,0,0,0] + speeds[lookup[name]] = speed + dType.SetJOGJointParams(self.api, speeds[0], 200, speeds[1], 200, speeds[2], 200, speeds[3], 200, isQueued = 1) + + + + +c = Candybot() + + +def slide_left(): + c.linear(-1) + +def slide_right(): + c.linear(1) + +def rotate_left(): + c.base(-1) + +def rotate_right(): + c.base(1) + +def forward(): + c.forearm(1) + +def back(): + c.forearm(-1) + +def up(): + c.rearArm(1) + +def down(): + c.rearArm(-1) + +def grab(): + c.gripp() + c.stopcmp() + +def drop(): + c.letgo() + c.stopcmp() + +def stop(): + c.panic() + +def getCurrentCmd(): + return c.getCurrentCmd() + +def updateLinearSpeed(): + pass + + + + +