import time import threading import DobotDllType as dType import json import socket, select import re from time import sleep """ Six actuators: linear rail base rotation rear arm forarm gripperrotation gripper First five takes argument 1 or -1 (direction) Example: #initialisation c = Candybot() c.linear(1) # move linear in positive direction c.gripp() # gripp candy 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", dType.DobotConnect.DobotConnect_Occupied: "DobotConnect_Occupied"} #Load Dll self.api = dType.load() #Connect Dobot state = dType.ConnectDobot(self.api, "", 115200)[0] print("Connect status:",CON_STR[state]) if (state == dType.DobotConnect.DobotConnect_NoError): #Clean Command Queued dType.SetQueuedCmdClear(self.api) #Async Motion Params Setting dType.SetHOMEParams(self.api, 250, 0, 50, 0, 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 dType.SetDeviceWithL(self.api, 1) dType.SetJOGLParams(self.api, 200, 200, isQueued=0) #Async Home dType.SetHOMECmd(self.api, temp = 0, isQueued = 1) def disconnect(self): #Disconnect Dobot dType.DisconnectDobot(self.api) def base(self, direction): if direction == 1: dType.SetJOGCmd(self.api,1,1) elif direction == -1: dType.SetJOGCmd(self.api,1,2) else : return threading.Timer(0.1,self.stop).start() #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) def rearArm(self, direction): if direction == 1: dType.SetJOGCmd(self.api,1,3) elif direction == -1: dType.SetJOGCmd(self.api,1,4) else : return #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) threading.Timer(0.1,self.stop).start() def forearm(self, direction): if direction == 1: dType.SetJOGCmd(self.api,1,5) elif direction == -1: dType.SetJOGCmd(self.api,1,6) else : return #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) threading.Timer(0.1,self.stop).start() def gripperRotation(self, direction): if direction == 1: dType.SetJOGCmd(self.api,1,7) elif direction == -1: dType.SetJOGCmd(self.api,1,8) else : return #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) threading.Timer(0.1,self.stop).start() def linear(self, direction): if direction == 1: dType.SetJOGCmd(self.api,1,9) elif direction == -1: dType.SetJOGCmd(self.api,1,10) else : return #dType.SetWAITCmd(self.api, 1, isQueued=0) #dType.SetJOGCmd(self.api, 1, 0) self.lint = threading.Timer(0.2,self.stop) self.lint.start() def gripp(self): dType.SetEndEffectorGripper(self.api, 1, 1, isQueued=0) def letgo(self): dType.SetEndEffectorGripper(self.api, 1, 0, isQueued=0) def stop(self): dType.SetJOGCmd(self.api, 1, 0) def stopcmp(self): dType.SetEndEffectorGripper(self.api, 0, 0, isQueued=0) def panic(self): 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) def setJOGcmd(self, cmd): dType.SetJOGCmd(self.api,1,cmd) candy = Candybot() startTime = time.time() nowTime = 0 currentMotor = 0 motorcfg = [0] * 10 motorcfg[1] = {"name" : 'base' , "positive":1, "negative":2, 'speedslot':2} motorcfg[2] = {"name" : 'reararm' ,"positive":3, "negative":4, 'speedslot':4} motorcfg[3] = {"name" : 'forearm' ,"positive":5, "negative":6, 'speedslot':6} motorcfg[4] = {"name" : 'rail' ,"positive":9, "negative":10, 'speedslot':1} friction = 0.95 movement_time = 3 max_movement_time = 5 min_speed = 1 max_speed = 50 speed = 0 stopTime = 0 isRunning = False def adjustSpeed(motor, adjustment): global nowTime, stopTime, currentMotor, speed, motorcfg, movement_time, max_speed, max_movement_time if currentMotor==motor: if (adjustment>0 and speed>0) or (adjustment<0 and speed<0): speed += adjustment * 1-(abs(speed)/max_speed) else: stopMotorFunctions() stopTime += movement_time/2 * max_movement_time/(stopTime - nowTime) else: currentMotor = motor speed = adjustment stopTime = nowTime + movement_time if(speed>0): candy.setJOGcmd(motorcfg[currentMotor]['positive']) #print("JOG command {}".format(motorcfg[currentMotor]['positive'])) else: candy.setJOGcmd(motorcfg[currentMotor]['negative']) # print("JOG command {}".format(motorcfg[currentMotor]['negative'])) def stopMotorFunctions(): global currentMotor, speed currentMotor = 0 speed = 0 candy.stop() def updateLoop(): global nowTime, stopTime, currentMotor, speed, friction, min_speed, motorcfg nowTime = (time.time() - startTime) threading.Timer(1, updateLoop).start() if currentMotor != 0: if nowTime > stopTime: stopMotorFunctions() return else: speed *= friction if abs(speed) < min_speed: stopMotorFunctions() return candy.setparams(motorcfg[currentMotor]['name'], abs(speed)) #print("JOG parameter {} to {}".format( motorcfg[currentMotor]['speedslot'], abs(speed)) ) def rt(): adjustSpeed(1, -5) def lt(): adjustSpeed(1, 5) def bc(): adjustSpeed(2, -5) def fw(): 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 # with open('twitch_key.json', 'rb') as json_data: data = json.load(json_data) primary_stream_key = data["primary_stream_key"] oauth_key = data["oauth_key"]# bytes('oauth:gcpsl3csq85rf3lk8c1ijzer8deuat', "utf8") print(primary_stream_key) print(oauth_key) HOST = "irc.chat.twitch.tv" PORT = 6667 PASS = oauth_key NICK = "TwitchGrabsCandy" CHAN = "#twitchgrabscandy" s = socket.socket() s.connect((HOST, PORT)) s.send("PASS {}\r\n".format(PASS).encode("utf-8")) s.send("NICK {}\r\n".format(NICK).encode("utf-8")) s.send("JOIN {}\r\n".format(CHAN).encode("utf-8")) s.setblocking(0) queue = [] while True: response = "" ready = select.select([s], [], [], 0.1) if ready[0]: print("Trying") response = s.recv(1024).decode("utf-8") # blocking # print(response) if re.search("up", response) != None: queue = queue + ["up"] if re.search("down", response) != None: queue = queue + ["down"] if re.search("go left", response) != None: queue = queue + ["gleft"] if re.search("go right", response) != None: queue = queue + ["gright"] if re.search("turn left", response) != None: queue = queue + ["tleft"] if re.search("turn right", response) != None: queue = queue + ["tright"] if re.search("forward", response) != None: queue = queue + ["forward"] if re.search("back", response) != None: queue = queue + ["back"] if re.search("grasp", response) != None: queue = queue + ["grasp"] if re.search("drop", response) != None: queue = queue + ["drop"] # checking the motion that is first in the FIFO queue if len(queue): if queue[0] == "up": up() elif queue[0] == "down": dn() elif queue[0] == "gleft": ll() elif queue[0] == "gright": lr() elif queue[0] == "tleft": lt() elif queue[0] == "tright": rt() elif queue[0] == "forward": fw() elif queue[0] == "back": bc() elif queue[0] == "grasp": grab() elif queue[0] == "drop": drop() else: print("Something is TERRIBLY wrong!") # removing the first item from queue queue = queue[1:] sleep(1)