uArmProPython/basic_example.py at master · jfdzar/uArmProPython · GitHub

History

58 lines (49 loc) · 1.5 KB

Raw

# uArm Swift Pro - Python Library Example

# Created by: Richard Garsthagen - the.anykey@gmail.com

# Modified by: jfdzar

# V0.1 - June 2017 - Still under development

import uArmRobot

import time

import serial

#Configure Serial Port

serialport = 'COM7' # for windows

#serialport = "/dev/ttyACM0" # for linux like system

# Connect to uArm

myRobot = uArmRobot.robot(serialport)

myRobot.debug = False # Enable / Disable debug output on screen, by default disabled

myRobot.connect()

# Set mode to Normal

myRobot.mode(0)

# Get actual Position

print(myRobot.get_position())

#Go to Test Position

myRobot.goto(200,0,100,30000)

#Change the acceleration and move to test acceleartion

myRobot.set_acceleration(300,300)

myRobot.goto(200,150,100,30000)

myRobot.goto(200,-150,100,30000)

#Change the acceleration and move to test acceleartion

myRobot.set_acceleration(200,200)

myRobot.goto(200,150,100,5000)

myRobot.goto(200,-150,100,5000)

myRobot.goto(200,0,100,5000)

#Print Test

myRobot.mode(1)

z = 100

speed = 5000

for i in range(1,4):

myRobot.laser_goto(200,0,z,speed)

myRobot.laser_goto(200,50,z,speed)

myRobot.laser_goto(210,50,z,speed)

myRobot.laser_goto(210,0,z,speed)

myRobot.mode(0)

# Send move command, but continue program

myRobot.async_goto(200,150,250,3000)

while myRobot.moving:

print ("Waiting to complete move")

time.sleep(0.5)

#Set Normal Mode go to Home Position and disconnect the robot

myRobot.mode(0)

myRobot.goto(100,0,40,5000)

print('Disconnecting Robot')

myRobot.disconnect()

uArmProPython/basic_example.py at master · jfdzar/uArmProPython · GitHub

Expand file tree

Breadcrumbs

basic_example.py

Latest commit

History

Breadcrumbs

basic_example.py

File metadata and controls