From ea6cf1e8b4a7bd6294df561c1eda191d03680f1e Mon Sep 17 00:00:00 2001 From: Langevin Gael Date: Wed, 22 Sep 2021 15:20:25 +0200 Subject: [PATCH] Add files via upload --- dexarm.py | 254 +- joystick.py | 114 + letter1.gcode | 8179 ++++--------------------------------------------- 3 files changed, 844 insertions(+), 7703 deletions(-) create mode 100644 joystick.py diff --git a/dexarm.py b/dexarm.py index fd2cec4..87e9139 100644 --- a/dexarm.py +++ b/dexarm.py @@ -36,9 +36,10 @@ def _send_cmd1(self, data, wait=True): else: print("read:", serial_str) + #path = "test1.gcode" def send_gcode1(self, wait=True): ####This is a personal test. - self.ser1.writeFile('test1.gcode') + self.ser1.writeFile('myOpinion.gcode') if not wait: self.ser1.reset() return @@ -49,7 +50,64 @@ def send_gcode1(self, wait=True): print("read ok") break else: - print("read:", serial_str) + print("read:", serial_str) + + #def removeComment(string): + #if (string.find(';')==-1): + #return string + #else: + #return string[:string.index(';')] + + def strip_gcode1(self): + g = open('myOpinion.gcode','r') + print("opened gcode") + for line in g: + #l = removeComment(line) + #l = l.strip() # Strip all EOL characters for streaming + #print("striping gcode") + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') # Send g-code block + print 'Sending: ' + line + + def process_letter(self, letter): + print('opening letter ' + letter) + f = open(letter,'r') + for line in f: + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') + print ('Dexarm1 gcode line: ' + line) + + def pickAndPlace1(self): + h = open('pickAndPlace1.gcode','r') + print("opened gcode") + for line in h: + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') # Send g-code block + print 'Dexarm2 gcode line: ' + line + + def pickAndPlace2(self): + j = open('pickAndPlace2.gcode','r') + print("opened gcode") + for line in j: + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') # Send g-code block + print 'Dexarm2 gcode line: ' + line + + def pickPlace1(self): + k = open('pickPlace1.gcode','r') + print("opened gcode") + for line in k: + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') # Send g-code block + print 'Dexarm2 gcode line: ' + line + + def pickPlace2(self): + m = open('pickPlace2.gcode','r') + print("opened gcode") + for line in m: + if (line.isspace()==False and len(line)>0) : + self._send_cmd1(line+'\n') # Send g-code block + print 'Dexarm2 gcode line: ' + line def go_home1(self): """ @@ -64,13 +122,13 @@ def go_home1(self): def set_relativeDown1(self): #This is a personal test. self._send_cmd1("G91\r") - self._send_cmd1("G0 Z-5\n") + self._send_cmd1("G0 X0 Y0 Z-3\n") self._send_cmd1("G90\r") def set_relativeUp1(self): #This is a personal test. self._send_cmd1("G91\r") - self._send_cmd1("G0 Z5\n") + self._send_cmd1("G0 X0 Y0 Z3\n") self._send_cmd1("G90\r") def set_absolute1(self): @@ -87,62 +145,29 @@ def read_test1(self): self._send_cmd1("G0 X-80.33 Y338.19\n") self._send_cmd1("G0 X0 Y338.19\n") self._send_cmd1("G0 Z20\n") - #self._send_cmd1("G0 X0 Y300\n") - #self._send_cmd1("G0 X-25 Y-25\n") - #self._send_cmd1("G0 X25 Y-25\n") - #self._send_cmd1("G0 X25 Y25\n") - #self._send_cmd1("G0 X0 Y50\n") - #self._send_cmd1("G0 X-25 Y25\n") - #self._send_cmd1("G0 X-25 Y-25\n") - #self._send_cmd1("G0 X25 Y25\n") - #self._send_cmd1("G0 X-25 Y25\n") - #self._send_cmd1("G0 X25 Y-25\n") - #This is a personal test. - - ##Remix of test1.gcode worky! - def remix(self): - self._send_cmd1("M2000\n") - self._send_cmd1("M888 P0\n") - self._send_cmd1("G0 X-80.33 Y337.72\n") - self._send_cmd1("G0 Z0\n") - self._send_cmd1("G0 X-80.02 Y338.19\n") - self._send_cmd1("G0 X-79.70 Y338.35\n") - self._send_cmd1("G0 X-79.55 Y338.19\n") - self._send_cmd1("G0 X-79.55 Y338.03\n") - self._send_cmd1("G0 X-79.70 Y337.40\n") - self._send_cmd1("G0 X-79.86 Y336.93\n") - self._send_cmd1("G0 Z5\n") - self._send_cmd1("G0 X-79.70 Y337.40\n") - self._send_cmd1("G0 Z0\n") - self._send_cmd1("G0 X-79.55 Y337.72\n") - self._send_cmd1("G0 X-79.23 Y338.19\n") - self._send_cmd1("G0 X-78.92 Y338.35\n") - self._send_cmd1("G0 X-78.60 Y338.35\n") - self._send_cmd1("G0 X-78.44 Y338.19\n") - self._send_cmd1("G0 X-78.44 Y338.03\n") - self._send_cmd1("G0 X-78.60 Y337.40\n") - self._send_cmd1("G0 X-78.76 Y336.93\n") - - self._send_cmd1("G0 Z80\n") - self._send_cmd1("G0 X0 Y190\n") - #self._send_cmd1("M601\n") - + def disconnect1(self): + #This is a personal test. self.ser1.disconnect() - def strip_gcode1(self): - f = open('myOpinion.gcode','r') - print("opened gcode") - for line in f: - if (line.isspace()==False and len(line)>0) : - self._send_cmd1(line+'\n') # Send g-code block - print 'Sending: ' + line + def read_Gcode1(self): + #This is a personal test. + #path = "resource/Dexarm/gcode/hourse.gcode" + #self.ser1.write(path.encode()) + self.ser1.writeFile('test1.gcode') + #self._send_cmd1("path\r") def set_workorigin1(self): """ Set the current position as the new work origin. """ - self._send_cmd1("G92 X0 Y0 Z0 E0\r") + self._send_cmd1("G92 X0 Y300 Z0\r") + + def move_to_workorigin1(self): + """ + Move to the current work position. + """ + self._send_cmd1("G0 X0 Y300 Z0\r") def set_acceleration1(self, acceleration, travel_acceleration, retract_acceleration=60): """ @@ -216,7 +241,7 @@ def move_to1(self, x=None, y=None, z=None, e=None, feedrate=2000, mode="G1", wai cmd = cmd + "\r\n" self._send_cmd1(cmd, wait=wait) - def fast_move_to1(self, x=None, y=None, z=None, feedrate=2000, wait=True): + #def fast_move_to1(self, x=None, y=None, z=None, feedrate=2000, wait=True): """ Fast move to a cartesian position, i.e., in mode G0 @@ -224,7 +249,11 @@ def fast_move_to1(self, x=None, y=None, z=None, feedrate=2000, wait=True): x, y, z (int): the position, in millimeters by default. Units may be set to inches by G20. Note that the center of y axis is 300mm. feedrate (int): sets the feedrate for all subsequent moves """ - self.move_to1(self, x=x, y=y, z=z, feedrate=feedrate, mode="G0", wait=wait) + #self.move_to1(self, x=x, y=y, z=z, feedrate=feedrate, mode="G0", wait=wait) + + def fast_move_to1(self, x, y, z, feedrate=6000, wait=True): + cmd = "G0"+"F" + str(feedrate) + "X"+str(x) + "Y" + str(y) + "Z" + str(z) + "\r\n" + self._send_cmd1(cmd, wait=wait) def get_current_position1(self): """ @@ -272,17 +301,7 @@ def delay_s1(self, value): Args: value (int): time in s """ - self._send_cmd1("G4 S" + str(value) + '\r') - - def rotate_wrist1(self, value): - #This is a personal test. - """ - Setting the rotation of wrist in way or the other - - Args: - value (int): degrees of rotation - """ - self._send_cmd1("M1114" + str(value) + '\r') + self._send_cmd1("G4 S" + str(value) + '\r') def soft_gripper_pick1(self): """ @@ -314,6 +333,16 @@ def air_picker_pick1(self): """ self._send_cmd1("M1000\r") + def air_picker_rotate1(self, radius=0): + """ + Setting the rotation of wrist in way or the other + + Args: + value (int): degrees of rotation + """ + self._send_cmd1("M2100"'\r') + self._send_cmd1("M2101 P" + str(radius) + '\r') + def air_picker_place1(self): """ Release an object @@ -379,7 +408,100 @@ def close1(self): """ self.ser1.close() + def disconnect1(self): + """ + Release the serial port. + """ + self.ser1.clear() + +def action2(): + letters = ['letter1.gcode','letter2.gcode','letter3.gcode'] + for letter in letters: + # We move dexarm1 away + dexarm1.fast_move_to1(140, 160, 80) + print "moved dexarm1" + # We start dexarm2 to set the paper + ##dexarm2.pickAndPlace1() ##gcode + + dexarm2.delay_s1(2) + #dexarm2.set_module_type2(6) + dexarm2.fast_move_to1(220, 320, 100) + dexarm2.fast_move_to1(220, 320, 0) + dexarm2.air_picker_pick1() + dexarm2.fast_move_to1(220, 320, 100) + dexarm2.delay_s1(1) + dexarm2.air_picker_rotate1(-35) + + dexarm2.fast_move_to1(0, 320, 100) + dexarm2.fast_move_to1(0, 320, 0) + dexarm2.air_picker_place1() + dexarm2.air_picker_natur1() + dexarm2.delay_s1(2) + + dexarm2.fast_move_to1(0, 320, 100) + dexarm2.delay_s1(1) + dexarm2.air_picker_rotate1(35) + + dexarm2.fast_move_to1(140, 160, 100) + print "dexarm2 picked and placed paper" + + dexarm1.delay_s1(7) + # We start dexarm1 to write on paper + dexarm1.process_letter(letter) ##gcode + + # gcode move dexarm1 away + #dexarm1.move_to1(140, 180, 50) + + # We start dexarm2 to remove the written paper + #sleep(5) #needs to wait until the end of previous gcode + dexarm2.pickAndPlace2() ##gcode + #dexarm2.delay_s1(5) + #dexarm2.fast_move_to1(0, 320, 100) + #dexarm2.fast_move_to1(0, 320, 0) + #dexarm2.air_picker_pick1() + #dexarm2.fast_move_to1(0, 320, 100) + + #dexarm2.delay_s1(1) + #dexarm2.air_picker_rotate1(-35) + + #dexarm2.fast_move_to1(-225, 315, 100) + #dexarm2.fast_move_to1(-225, 315, 0) + #dexarm2.air_picker_place1() + #dexarm2.air_picker_nature1() + #dexarm2.delay_s1(2) + + #dexarm2.fast_move_to1(-225, 315, 100) + + #dexarm2.delay_s1(1) + #dexarm2.air_picker_rotate1(35) + + #dexarm2.fast_move_to1(140, 160, 100) + print "dexarm2 removed paper" + +def action1(): + letters = ['letter1.gcode','letter2.gcode','letter3.gcode','letter4.gcode','letter5.gcode','letter6.gcode','letter7.gcode'] + for letter in letters: + # We move dexarm1 away + dexarm2.delay_s1(1) + dexarm1.fast_move_to1(100, 218, 36) + print "dexarm1 moved to rotate paper" + + # We start dexarm2 to set the paper + dexarm2.pickPlace1() ##gcode + print "dexarm2 picked and placed paper" + + # We start dexarm1 to write on paper + dexarm1.delay_s1(5) + #dexarm1.fast_move_to1(160, 150, 100) + dexarm1.process_letter(letter) ##gcode + + dexarm2.delay_s1(2) + # We start dexarm2 to remove the written paper + dexarm2.pickPlace2() ##gcode + print "dexarm2 removed paper" + + print('Dexarm class loaded') -python.execfile('example.py') +python.execFile('joystick.py') \ No newline at end of file diff --git a/joystick.py b/joystick.py new file mode 100644 index 0000000..b4babc0 --- /dev/null +++ b/joystick.py @@ -0,0 +1,114 @@ +################################################### +# Basic script for coordinating 2 dexarms with MRL + +# for virtual testing +runtime.setVirtual(False) + +# variables +dexarmPort1 = 'COM3' +dexarmPort2 = 'COM4' + +# joystick map +exec_action1 = "Num 1" +go_home = "Num 2" +move_to = "Num 3" +move_to_work_height = "Num 4" +disconnect = "Num 5" +release_picker = "Num 7" +set_work_origin = "Num 8" +exec_action2 = "Num 9" +down_dexarm1 = "Down" +up_dexarm1 = "Up" +down_dexarm2 = "Left" +up_dexarm2 = "Right" + +# start 2 dexarms +dexarm1 = Dexarm('serial1', dexarmPort1) +dexarm2 = Dexarm('serial2', dexarmPort2) + +# 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 +joy.setController(0) + +#tell joystick service to send data to python as a message only when new data is aviable +joy.addInputListener(python) + +#this is the method in python which receive the data from joystick service +#it is triggered only when new data arrive, it's not a loop ! +def onJoystickInput(data): + #this print the name of the key/button you pressed (it's a String) + #this print the value of the key/button (it's a Float) + print (data) + if (data.id == move_to): + if (data.value == 1): + print(move_to, "was pressed its value is", data.value) + dexarm1.move_to1(50, 300, 0) + #dexarm1.read_Gcode1() + print('moved dexarm1 to 50, 300, 0') + #print('moved dexarm1 to test1.gcode') + elif (data.id == exec_action2): + if (data.value == 1): + print("executing action2", data.value) + for i in range(2): # In letter1.py the number of times to run the code + action2() + elif (data.id == exec_action1): + if (data.value == 1): + print("executing action", data.value) + action1() + elif (data.id == move_to_work_height): + if (data.value == 1): + print("moving to work height", data.value) + dexarm1.move_to_workorigin1() + dexarm2.move_to_workorigin1() + elif (data.id == go_home): + if (data.value == 1): + print("Go home", data.value) + dexarm1.go_home1() + dexarm2.go_home1() + elif (data.id == disconnect): + if (data.value == 1): + print("Disconnect", data.value) + dexarm1.disconnect1() + dexarm2.disconnect1() + elif (data.id == set_work_origin): + if (data.value == 1): + print(set_work_origin, "Work origin is set", data.value) + dexarm1.set_workorigin1() + dexarm2.set_workorigin1() + elif (data.id == release_picker): + if (data.value == 1): + print(release_picker, "Release picker", data.value) + dexarm2.air_picker_nature1() + elif (data.id == down_dexarm1): + if (data.value == 1): + print("Moving down dexarm1", data.value) + dexarm1.set_relativeDown1() + elif (data.id == up_dexarm1): + if (data.value == 1): + print("Moving up dexarm1", data.value) + dexarm1.set_relativeUp1() + elif (data.id == down_dexarm2): + if (data.value == 1): + print("Moving down dexarm2", data.value) + dexarm2.set_relativeDown1() + elif (data.id == 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') diff --git a/letter1.gcode b/letter1.gcode index 8f2e753..e0cbd93 100644 --- a/letter1.gcode +++ b/letter1.gcode @@ -1,7639 +1,544 @@ -;TOOL_PATH_RENDER_METHOD_LINE -;----------- Start Gcode ----------- -M2000;custom:line mode -M888 P0;custom:header is write&draw -;----------------------------------- -G0 Z5 +M888 P0 +G0 Z40 G0 F2000 G1 F2000 -G0 X-80.33 Y337.72 -G1 Z0 -G1 X-80.02 Y338.19 -G1 X-79.70 Y338.35 -G1 X-79.55 Y338.19 -G1 X-79.55 Y338.03 -G1 X-79.70 Y337.40 -G1 X-79.86 Y336.93 -G0 Z5 -G0 X-79.70 Y337.40 -G1 Z0 -G1 X-79.55 Y337.72 -G1 X-79.23 Y338.19 -G1 X-78.92 Y338.35 -G1 X-78.60 Y338.35 -G1 X-78.44 Y338.19 -G1 X-78.44 Y338.03 -G1 X-78.60 Y337.40 -G1 X-78.76 Y336.93 -G0 Z5 -G0 X-78.60 Y337.40 -G1 Z0 -G1 X-78.44 Y337.72 -G1 X-78.13 Y338.19 -G1 X-77.81 Y338.35 -G1 X-77.50 Y338.35 -G1 X-77.34 Y338.19 -G1 X-77.34 Y337.87 -G1 X-77.50 Y337.40 -G1 X-77.50 Y337.09 -G1 X-77.34 Y336.93 -G1 X-77.18 Y336.93 -G1 X-76.87 Y337.09 -G1 X-76.71 Y337.24 -G1 X-76.40 Y337.72 -G0 Z5 -G0 X-77.08 Y337.72 -G1 Z0 -G1 X-76.76 Y338.35 -G1 X-77.08 Y337.40 -G1 X-77.08 Y337.09 -G1 X-76.92 Y336.93 -G1 X-76.60 Y336.93 -G1 X-76.29 Y337.09 -G1 X-75.97 Y337.40 -G1 X-75.66 Y337.87 -G0 Z5 -G0 X-75.50 Y338.35 -G1 Z0 -G1 X-76.44 Y335.51 -G1 X-76.60 Y335.20 -G1 X-76.92 Y335.04 -G1 X-77.08 Y335.20 -G1 X-77.08 Y335.51 -G1 X-76.92 Y335.98 -G1 X-76.44 Y336.46 -G1 X-75.97 Y336.77 -G1 X-75.66 Y336.93 -G1 X-75.18 Y337.24 -G1 X-74.71 Y337.72 -G0 Z5 -G0 X-70.34 Y338.35 -G1 Z0 -G1 X-70.65 Y338.35 -G1 X-70.96 Y338.19 -G1 X-71.12 Y338.03 -G1 X-71.28 Y337.72 -G1 X-71.28 Y337.40 -G1 X-71.12 Y337.09 -G1 X-70.81 Y336.93 -G1 X-70.49 Y336.93 -G1 X-70.18 Y337.09 -G1 X-70.02 Y337.24 -G1 X-69.86 Y337.56 -G1 X-69.86 Y337.87 -G1 X-70.02 Y338.19 -G1 X-70.34 Y338.35 -G1 X-70.49 Y338.19 -G1 X-70.49 Y337.87 -G1 X-70.34 Y337.56 -G1 X-70.02 Y337.40 -G1 X-69.55 Y337.40 -G1 X-69.23 Y337.56 -G1 X-69.08 Y337.72 -G0 Z5 -G0 X-69.23 Y337.72 -G1 Z0 -G1 X-68.92 Y338.19 -G1 X-68.76 Y338.50 -G1 X-68.92 Y337.87 -G1 X-69.86 Y335.04 -G0 Z5 -G0 X-68.92 Y337.87 -G1 Z0 -G1 X-68.76 Y338.19 -G1 X-68.45 Y338.35 -G1 X-68.13 Y338.35 -G1 X-67.82 Y338.19 -G1 X-67.66 Y337.87 -G1 X-67.66 Y337.56 -G1 X-67.82 Y337.24 -G1 X-67.97 Y337.09 -G1 X-68.29 Y336.93 -G0 Z5 -G0 X-68.92 Y337.09 -G1 Z0 -G1 X-68.60 Y336.93 -G1 X-68.13 Y336.93 -G1 X-67.66 Y337.09 -G1 X-67.34 Y337.24 -G1 X-66.87 Y337.72 -G0 Z5 -G0 X-66.61 Y339.14 -G1 Z0 -G1 X-66.61 Y338.98 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