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#!/usr/bin/env python
# -*- coding: utf-8 -*-
"""
Copyright (C) 2017 Martin Kauss (yo@bishoph.org)
Licensed under the Apache License, Version 2.0 (the "License"); you may
not use this file except in compliance with the License. You may obtain
a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
License for the specific language governing permissions and limitations
under the License.
"""
# Robot arm
import os
import sys
import time
import usb.core, usb.util
RoboArm = usb.core.find(idVendor=0x1267, idProduct=0x000)
light = 0
if (RoboArm != None):
print ('Robotic arm connected!')
else:
print ('Robotic arm not connected or offline!')
def Light():
global light
light = 1 - light
RoboArm.ctrl_transfer(0x40,6,0x100,0,[0,0,light],3)
def AllOff():
RoboArmOff = usb.core.find(idVendor=0x1267, idProduct=0x000)
attemtps = 0
while True:
try:
RoboArmOff.ctrl_transfer(0x40,6,0x100,0,[0,0,light],3)
break
except:
if (attemtps == 0):
print ('USB con error ... consider an emergency shutdown!')
try:
RoboArmOff = usb.core.find(idVendor=0x1267, idProduct=0x000)
except:
print ('Shit. Manual emergency shutdown required!')
attemtps += 1
if (attemtps == 20):
break
def MoveArm(Duration, ArmCmd):
RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,3)
time.sleep(Duration)
def run(readable_results, data, rawbuf):
if (len(readable_results) > 2 or len(readable_results) == 0):
return
if RoboArm is None:
print ('Robotic arm not connected or offline!')
return
try:
if ('rotate' in readable_results and 'right' in readable_results): # rotate right
MoveArm(1, [0,1,light])
elif ('rotate' in readable_results and 'left' in readable_results): # rotate left
MoveArm(1, [0,2,light])
elif ('shoulder' in readable_results and 'up' in readable_results): # shoulder up
MoveArm(0.4, [64,0,light])
elif ('shoulder' in readable_results and 'down' in readable_results): # shoulder down
MoveArm(0.4, [128,0,light])
elif ('elbow' in readable_results and 'up' in readable_results): # elbow up
MoveArm(0.3, [16,0,light])
elif ('elbow' in readable_results and 'down' in readable_results): # elbow down
MoveArm(0.3, [32,0,light])
elif ('wrist' in readable_results and 'up' in readable_results): # wrist up
MoveArm(0.3, [4,0,light])
elif ('wrist' in readable_results and 'down' in readable_results): # wrist down
MoveArm(0.3, [8,0,light])
elif ('finger' in readable_results and 'open' in readable_results): # finger open
MoveArm(0.1, [2,0,light])
elif ('finger' in readable_results and 'close' in readable_results): # finger close
MoveArm(0.1, [1,0,light])
elif (readable_results[0] == 'light'): # light on/off
Light()
except Exception as err:
print err
finally:
AllOff()