movearm/move.py

@@ -249,17 +249,11 @@ def rt():
 def lt():
     adjustSpeed(1, -5)
 
-def fw():
-    adjustSpeed(2, 5)
-
-def bc():
-    adjustSpeed(2, -5)
-
 def up():
-    adjustSpeed(3, 5)
+    adjustSpeed(2, 5)
 
 def dn():
-    adjustSpeed(3, -5)
+    adjustSpeed(2, -5)
 
 def lr():
     adjustSpeed(4, 10)

movearm/moveCmdTester.py

@@ -30,7 +30,6 @@ class Candybot:
 
         self.linearspeed = 100
         self.lastleinearspeed = 100
-        return
         
         CON_STR = {
             dType.DobotConnect.DobotConnect_NoError:  "DobotConnect_NoError",
@@ -137,7 +136,7 @@ class Candybot:
     
     def letgo(self):
         print("drops\n")
-        #dType.SetEndEffectorGripper(self.api, 1,  0, isQueued=0)
+        dType.SetEndEffectorGripper(self.api, 1,  0, isQueued=0)
 
     def stop(self):
         print("stops\n")
@@ -169,18 +168,17 @@ class Candybot:
     def setparams(self, name, speed):
         lookup = {'base' : 0, 'reararm' : 1, 'forearm' : 2, 'gripperroation' :3}
         if name == 'rail':
-            print("Change speed rail " + str(speed) +"\n" )    
+            print("Change speed rail %d\n", speed)    
             #dType.SetJOGLParams(self.api,  speed, 200, isQueued=0)
     
         else:
             speeds = [0,0,0,0]
             speeds[lookup[name]] = speed
-            print("change speed " + name + str(speed))
+            print("change speed" + name + "%d\n",speed)
             #dType.SetJOGJointParams(self.api, speeds[0], 200, speeds[1], 200, speeds[2], 200, speeds[3], 200, isQueued = 1)
 
     def setJOGcmd(self, cmd):
-        print("Joint "+ str(cmd) + "is moving \n")
+        dType.SetJOGCmd(self.api,1,cmd)
-        #dType.SetJOGCmd(self.api,1,cmd)
 
 candy = Candybot()
 
@@ -257,37 +255,69 @@ def rt():
 def lt():
     adjustSpeed(1, -5)
 
-def fw():
-    adjustSpeed(2, 5)
-
-def bc():
-    adjustSpeed(2, -5)
-
 def up():
-    adjustSpeed(3, 5)
+    adjustSpeed(2, 5)
 
 def dn():
-    adjustSpeed(3, -5)
+    adjustSpeed(2, -5)
 
 def lr():
     adjustSpeed(4, 10)
 
 def ll():
     adjustSpeed(4, -10)
-updateLoop()
 
+updateLoop()
 
+#
+#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 stopCmp():
     candy.stopcmp()
     
 def grab():
     candy.gripp()
-
+#    c.stopcmp()
+#
 def drop():
     candy.letgo()
+#    c.stopcmp()
+#
 
 def stop():
     candy.panic()
+#
+#def getCurrentCmd():
+#    return c.getCurrentCmd()
+#
+#def updateLinearSpeed():    
+#    pass
+#