updating .py files

dexarm.py

@@ -62,13 +62,21 @@ def go_home1(self):
         #This is a personal test.
         #self._send_cmd1("X0 Y0 Z-10 E0\r")
 
-    #def set_relative1(self):
+    def set_relativeDown1(self):
         #This is a personal test.
-        #self._send_cmd1("G91\r")
+        self._send_cmd1("G91\r")
+        self._send_cmd1("G0 Z-5\n")
+        self._send_cmd1("G90\r")
 
-    #def set_absolute1(self):
+    def set_relativeUp1(self):
         #This is a personal test.
-        #self._send_cmd1("G90\r")
+        self._send_cmd1("G91\r")
+        self._send_cmd1("G0 Z5\n")
+        self._send_cmd1("G90\r")    
+
+    def set_absolute1(self):
+        #This is a personal test.
+        self._send_cmd1("G90\r")
 
     def read_test1(self):
         #This is a personal test.
@@ -343,4 +351,7 @@ def close1(self):
         """
         self.ser1.close()
 
-print('Dexarm class loaded')
+print('Dexarm class loaded')
+
+
+execfile('resource/Dexarm/scripts/example.py')

example.py

@@ -2,18 +2,21 @@
 # Basic script for coordinating 2 dexarms with MRL
 
 # for virtual testing
-runtime.setVirtual(True)
+runtime.setVirtual(False)
 
 # variables
 dexarmPort1 = 'COM3'
 dexarmPort2 = 'COM4'
 
 # joystick map
-joy_move_to = "Num 3" # "Num 3"
-joy_exec_file = "Num 9"
 joy_test1 = "Num 1"
+joy_go_home = "Num 2"
+joy_move_to = "Num 3" # "Num 3"
 joy_disconnect = "Num 5"
 joy_set_work_origin = "Num 8"
+joy_exec_file = "Num 9"
+joy_down_dexarm2 = "Down"
+joy_up_dexarm2 = "Up"
 
 # start 2 dexarms
 dexarm1 = Dexarm('serial1', dexarmPort1)
@@ -22,6 +25,7 @@
 # start the services
 python = Runtime.start("python","Python")
 joy = Runtime.start("joy","Joystick")
+swing = Runtime.start("swing","SwingGui")
 
 #this set which kind of controller you want to poll data from
 #it is the number you can see in the Joystick GUI when you open the list of devices
@@ -39,38 +43,51 @@ def onJoystickInput(data):
  if (data.id == joy_move_to):
      if (data.value == 1):
         print(joy_move_to, "was pressed its value is", data.value)
-        # dexarm1.read_test1()
         dexarm1.move_to1(50, 300, 0)
-        # dexarm1.read_Gcode1()
+        #dexarm1.read_Gcode1()
         print('moved dexarm1 to 50, 300, 0')
- elif (data.id == "Num 9"):
-     print("script example.py", data.value)
-     execfile(RuningFolder+'/Dexarm/scripts/example.py')
- elif (data.id == "Num 1"):
-     print("test1", data.value)
-     dexarm2.move_to2(0, 220, 50)
-     dexarm1.set_module_type1(0)
-     dexarm1.read_Gcode1()
- elif (data.id == "Num 2"):
-     print("Go home", data.value)
-     dexarm1.go_home1()
-     dexarm2.go_home2()
- elif (data.id == "Num 5"):
-     print("Disconnect", data.value)
-     dexarm1.disconnect1()
-     dexarm2.disconnect2()    
- #elif (data.id == "Num 4"):
-     #print("Moving down", data.value)
-     #dexarm.move_down()
- #elif (data.id == "Num 7"):
-     #print("Moving down", data.value)
-     #dexarm.set_relative()
- #elif (data.id == "Num 6"):
-     #print("Moving down", data.value)
-     #dexarm.set_absolute()
- elif (data.id == "Num 8"):
-     print("Set work origin", data.value)    
-     dexarm1.set_workorigin1()
-
+        #print('moved dexarm1 to test1.gcode')
+ elif (data.id == joy_exec_file):
+     if (data.value == 1):
+         print("executing script example.py", data.value)
+         execfile(RuningFolder+'/Dexarm/scripts/example.py')
+ elif (data.id == joy_test1):
+     if (data.value == 1):
+         print("reading test1.gcode", data.value)
+         dexarm2.move_to1(0, 220, 50)
+         dexarm1.set_module_type1(0)
+         dexarm1.read_Gcode1()
+ elif (data.id == joy_go_home):
+     if (data.value == 1):
+         print("Go home", data.value)
+         dexarm1.go_home1()
+         dexarm2.go_home1()
+ elif (data.id == joy_disconnect):
+     if (data.value == 1):
+         print("Disconnect", data.value)
+         dexarm1.disconnect1()
+         dexarm2.disconnect1()
+ elif (data.id == joy_set_work_origin):
+     if (data.value == 1):
+         print(joy_set_work_origin, "Work origin is set", data.value)    
+         dexarm1.set_workorigin1()
+ elif (data.id == joy_down_dexarm2):
+    if (data.value == 1):
+        print("Moving down dexarm2", data.value)
+        dexarm2.set_relativeDown1()
+ elif (data.id == joy_up_dexarm2):
+    if (data.value == 1):
+        print("Moving up dexarm2", data.value)
+        dexarm2.set_relativeUp1()
 
+'''
+ elif (data.id == "Down"):
+    if (data.value == 1):
+        print("Moving down dexarm1", data.value)
+        dexarm1.set_relativeDown1()
+ elif (data.id == "Up"):
+    if (data.value == 1):
+        print("Moving up dexarm1", data.value)
+        dexarm1.set_relativeUp1()        
+'''
 print('example script loaded')