key words

movearm/move.py

@@ -249,12 +249,18 @@ def rt():
 def lt():
     adjustSpeed(1, -5)
 
-def up():
+def fw():
     adjustSpeed(2, 5)
 
-def dn():
+def bc():
     adjustSpeed(2, -5)
 
+def up():
+    adjustSpeed(3, 5)
+
+def dn():
+    adjustSpeed(3, -5)
+
 def lr():
     adjustSpeed(4, 10)
 

movearm/moveCmdTester.py

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