master
adligeerik 6 years ago
parent b6c8cc2f1b
commit 902acd4cf6

@ -4,7 +4,7 @@ import DobotDllType as dType
''' """
Six actuators: Six actuators:
linear rail linear rail
base rotation base rotation
@ -23,9 +23,16 @@ c.letgo() # let go of candy
c.stopcmp() # stoop compressor c.stopcmp() # stoop compressor
c.panic() # stops everything c.panic() # stops everything
''' """
class Candybot: class Candybot:
def __init__(self): def __init__(self):
self.jointspeed = 100
self.lastjointspeed = 100
self.linearspeed = 100
self.lastleinearspeed = 100
CON_STR = { CON_STR = {
dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError", dType.DobotConnect.DobotConnect_NoError: "DobotConnect_NoError",
dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound", dType.DobotConnect.DobotConnect_NotFound: "DobotConnect_NotFound",
@ -45,7 +52,7 @@ class Candybot:
#Async Motion Params Setting #Async Motion Params Setting
dType.SetHOMEParams(self.api, 250, 0, 50, 0, isQueued = 1) 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) dType.SetJOGCommonParams(self.api, 100, 100, isQueued = 1)
#linear rail #linear rail
@ -122,7 +129,8 @@ class Candybot:
return return
#dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetWAITCmd(self.api, 1, isQueued=0)
#dType.SetJOGCmd(self.api, 1, 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): def gripp(self):
dType.SetEndEffectorGripper(self.api, 1, 1, isQueued=0) dType.SetEndEffectorGripper(self.api, 1, 1, isQueued=0)
@ -138,3 +146,81 @@ class Candybot:
def panic(self): def panic(self):
dType.SetQueuedCmdForceStopExec(self.api) 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

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