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AR2WORK
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AR2WORK
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##########################################################################
## Version 2.1.5 #########################################################
##########################################################################
""" AR2 - Stepper motor robot control software
Copyright (c) 2017, Chris Annin
All rights reserved.
You are free to share, copy and redistribute in any medium
or format. You are free to remix, transform and build upon
this material.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistribution of this software in source or binary forms shall be free
of all charges or fees to the recipient of this software.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
* you must give appropriate credit and indicate if changes were made. You may do
so in any reasonable manner, but not in any way that suggests the
licensor endorses you or your use.
* Selling robots, robot parts, or any versions of robots or software based on this
work is strictly prohibited.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL CHRIS ANNIN BE LIABLE FOR ANY
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
chris.annin@gmail.com
"""
##########################################################################
##########################################################################
''' VERSION 2.1.1 CHANGES
CHANGED ALL DELAYS TO 0.05
ADDED CALIBRATE TO MID RANGE FUNCTION
REMOVED CALIBRATE WRITE FROM CALIBRATE ROUTINE - USES SavePosData
CHANGED E65 = TO J15
ajusted axis limits for DM542T
RE-WRITE OF MOVE SYNC ALGORITHM
VERSION 2.1.4 CHANGES
POSITIONS BY CARTISIAN INSTEAD OF STEP COUNT
ADDED STORED POSITIONS
ADDED 7TH AXIS TRAVEL TRACK
ADDED BASIC VISION
CHANGED INCREMENT TO ++ AND DECREMENT TO --
VERSION 2.1.5 CHANGES
CHANGES KINEMATICS FOR WRIST ORIENTATION J4-J6
SPEED UP CALIBRATION MOVE
'''
##########################################################################
from Tkinter import *
import ttk
import pickle
import serial
import time
import threading
import Queue
import math
import tkMessageBox
import webbrowser
#Blop
import triad_openvr
root = Tk()
root.wm_title("AR2 software 1.5")
root.iconbitmap(r'AR2.ico')
root.resizable(width=True, height=True)
root.geometry('1360x720+0+0')
root.runTrue = 0
nb = ttk.Notebook(root, width=1366, height=698)
nb.place(x=0, y=0)
tab1 = ttk.Frame(nb)
nb.add(tab1, text=' Main Controls ')
tab2 = ttk.Frame(nb)
nb.add(tab2, text=' Calibration ')
tab3 = ttk.Frame(nb)
nb.add(tab3, text=' Inputs Outputs ')
tab4 = ttk.Frame(nb)
nb.add(tab4, text=' Registers ')
tab5 = ttk.Frame(nb)
nb.add(tab5, text=' Vision ')
global J1NegAngLim
global J1PosAngLim
global J1StepLim
global J1DegPerStep
global J1StepCur
global J1AngCur
global J2NegAngLim
global J2PosAngLim
global J2StepLim
global J2DegPerStep
global J2StepCur
global J2AngCur
global J2NegAngLim
global J2PosAngLim
global J2StepLim
global J2DegPerStep
global J2StepCur
global J2AngCur
global J3NegAngLim
global J3PosAngLim
global J3StepLim
global J3DegPerStep
global J3StepCur
global J3AngCur
global J4NegAngLim
global J4PosAngLim
global J4StepLim
global J4DegPerStep
global J4StepCur
global J4AngCur
global J5NegAngLim
global J5PosAngLim
global J5StepLim
global J5DegPerStep
global J5StepCur
global J5AngCur
global J6NegAngLim
global J6PosAngLim
global J6StepLim
global J6DegPerStep
global J6StepCur
global J6AngCur
global XcurPos
global YcurPos
global ZcurPos
global RxcurPos
global RycurPos
global RzcurPos
global TrackcurPos
global TrackLength
global TrackStepLim
global runLoop
runLoop = 1
global LocArray
global LastLocArray
global DiffArray
global v
v = triad_openvr.triad_openvr()
## Wrist Congig
global WC
###Fwd Kinamatic outputs
global H4
global H5
global H6
global H7
global H8
global H9
###Fwd Kinamatic rotation matrix
global G60
global G61
global G62
global H60
global H61
global H62
global I60
global I61
global I62
###Orientation
global E7
global E8
global E27
global E28
global DHr1
global DHr2
global DHr3
global DHr4
global DHr5
global DHr6
global DHa1
global DHa2
global DHa3
global DHa4
global DHa5
global DHa6
global DHd1
global DHd2
global DHd3
global DHd4
global DHd5
global DHd6
global DHt1
global DHt2
global DHt3
global DHt4
global DHt5
global DHt6
###jog step options
global JogStepsStat
JogStepsStat = IntVar()
###DEFS###################################################################
##########################################################################
#blop
def truncate(number, digits):
stepper = pow(10.0, digits)
return math.trunc(stepper * number) / stepper
def setCom():
global ser
port = "COM" + comPortEntryField.get()
baud = 9600
ser = serial.Serial(port, baud)
def deleteitem():
selRow = tab1.progView.curselection()[0]
selection = tab1.progView.curselection()
tab1.progView.delete(selection[0])
tab1.progView.select_set(selRow)
value = tab1.progView.get(0, END)
pickle.dump(value, open(ProgEntryField.get(), "wb"))
def executeRow():
global J1AngCur
global J2AngCur
global J3AngCur
global J4AngCur
global J5AngCur
global J6AngCur
global J1StepCur
global J2StepCur
global J3StepCur
global J4StepCur
global J5StepCur
global J6StepCur
global calStat
global rowinproc
selRow = tab1.progView.curselection()[0]
tab1.progView.see(selRow + 2)
data = map(int, tab1.progView.curselection())
command = tab1.progView.get(data[0])
cmdType = command[:6]
##Call Program##
if (cmdType == "Call P"):
tab1.lastRow = tab1.progView.curselection()[0]
tab1.lastProg = ProgEntryField.get()
programIndex = command.find("Program -")
progNum = str(command[programIndex + 10:])
ProgEntryField.delete(0, 'end')
ProgEntryField.insert(0, progNum)
loadProg()
time.sleep(.4)
index = 0
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(index)
##Return Program##
if (cmdType == "Return"):
lastRow = tab1.lastRow
lastProg = tab1.lastProg
ProgEntryField.delete(0, 'end')
ProgEntryField.insert(0, lastProg)
loadProg()
time.sleep(.4)
index = 0
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(lastRow)
##Servo Command##
if (cmdType == "Servo "):
servoIndex = command.find("number ")
posIndex = command.find("position: ")
servoNum = str(command[servoIndex + 7:posIndex - 4])
servoPos = str(command[posIndex + 10:])
command = "SV" + servoNum + "P" + servoPos
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##If Input On Jump to Tab##
if (cmdType == "If On "):
inputIndex = command.find("Input-")
tabIndex = command.find("Tab-")
inputNum = str(command[inputIndex + 6:tabIndex - 9])
tabNum = str(command[tabIndex + 4:])
command = "JFX" + inputNum + "T" + tabNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
value = ser.readline()
# value = str(value[3:])
if (value == "True\n"):
index = tab1.progView.get(0, "end").index("Tab Number " + tabNum)
index = index - 1
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(index)
##If Input Off Jump to Tab##
if (cmdType == "If Off"):
inputIndex = command.find("Input-")
tabIndex = command.find("Tab-")
inputNum = str(command[inputIndex + 6:tabIndex - 9])
tabNum = str(command[tabIndex + 4:])
command = "JFX" + inputNum + "T" + tabNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
value = ser.readline()
if (value == "False\n"):
index = tab1.progView.get(0, "end").index("Tab Number " + tabNum)
index = index - 1
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(index)
##Jump to Row##
if (cmdType == "Jump T"):
tabIndex = command.find("Tab-")
tabNum = str(command[tabIndex + 4:])
index = tab1.progView.get(0, "end").index("Tab Number " + tabNum)
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(index)
##Set Output ON Command##
if (cmdType == "Out On"):
outputIndex = command.find("Output-")
outputNum = str(command[outputIndex + 7:])
command = "ONX" + outputNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##Set Output OFF Command##
if (cmdType == "Out Of"):
outputIndex = command.find("Output-")
outputNum = str(command[outputIndex + 7:])
command = "OFX" + outputNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##Wait Input ON Command##
if (cmdType == "Wait I"):
inputIndex = command.find("Input-")
inputNum = str(command[inputIndex + 6:])
command = "WIN" + inputNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##Wait Input OFF Command##
if (cmdType == "Wait O"):
inputIndex = command.find("Input-")
inputNum = str(command[inputIndex + 6:])
command = "WON" + inputNum
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##Wait Time Command##
if (cmdType == "Wait T"):
timeIndex = command.find("Seconds-")
timeSeconds = str(command[timeIndex + 8:])
command = "WTS" + timeSeconds
ser.write(command + "\n")
ser.flushInput()
time.sleep(.2)
ser.read()
##Set Register##
if (cmdType == "Regist"):
regNumIndex = command.find("Register ")
regEqIndex = command.find(" = ")
regNumVal = str(command[regNumIndex + 9:regEqIndex])
regEntry = "R" + regNumVal + "EntryField"
testOper = str(command[regEqIndex + 3:regEqIndex + 5])
if (testOper == "++"):
regCEqVal = str(command[regEqIndex + 5:])
curRegVal = eval(regEntry).get()
regEqVal = str(int(regCEqVal) + int(curRegVal))
elif (testOper == "--"):
regCEqVal = str(command[regEqIndex + 5:])
curRegVal = eval(regEntry).get()
regEqVal = str(int(curRegVal) - int(regCEqVal))
else:
regEqVal = str(command[regEqIndex + 3:])
eval(regEntry).delete(0, 'end')
eval(regEntry).insert(0, regEqVal)
##Set Stor Position##
if (cmdType == "Store "):
regNumIndex = command.find("Store Position ")
regElIndex = command.find("Element")
regEqIndex = command.find(" = ")
regNumVal = str(command[regNumIndex + 15:regElIndex - 1])
regNumEl = str(command[regElIndex + 8:regEqIndex])
regEntry = "SP_" + regNumVal + "_E" + regNumEl + "_EntryField"
testOper = str(command[regEqIndex + 3:regEqIndex + 5])
if (testOper == "++"):
regCEqVal = str(command[regEqIndex + 4:])
curRegVal = eval(regEntry).get()
regEqVal = str(float(regCEqVal) + float(curRegVal))
elif (testOper == "--"):
regCEqVal = str(command[regEqIndex + 5:])
curRegVal = eval(regEntry).get()
regEqVal = str(float(curRegVal) - float(regCEqVal))
else:
regEqVal = str(command[regEqIndex + 3:])
eval(regEntry).delete(0, 'end')
eval(regEntry).insert(0, regEqVal)
## Get Vision ##
if (cmdType == "Get Vi"):
testvis()
##If Register Jump to Row##
if (cmdType == "If Reg"):
regIndex = command.find("If Register ")
regEqIndex = command.find(" = ")
regJmpIndex = command.find(" Jump to Tab ")
regNum = str(command[regIndex + 12:regEqIndex])
regEq = str(command[regEqIndex + 3:regJmpIndex])
tabNum = str(command[regJmpIndex + 13:])
regEntry = "R" + regNum + "EntryField"
curRegVal = eval(regEntry).get()
if (curRegVal == regEq):
index = tab1.progView.get(0, "end").index("Tab Number " + tabNum)
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(index)
##Calibrate Command##
if (cmdType == "Calibr"):
calRobotAll()
if (calStat == 0):
stopProg()
##Move J Command##
if (cmdType == "Move J"):
J1newIndex = command.find("X) ")
J2newIndex = command.find("Y) ")
J3newIndex = command.find("Z) ")
J4newIndex = command.find("W) ")
J5newIndex = command.find("P) ")
J6newIndex = command.find("R) ")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
CX = float(command[J1newIndex + 3:J2newIndex - 1])
CY = float(command[J2newIndex + 3:J3newIndex - 1])
CZ = float(command[J3newIndex + 3:J4newIndex - 1])
CRx = float(command[J4newIndex + 3:J5newIndex - 1])
CRy = float(command[J5newIndex + 3:J6newIndex - 1])
CRz = float(command[J6newIndex + 3:TRnewIndex - 1])
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy,
TCRz, Track)
##Offs J Command##
if (cmdType == "OFFS J"):
SPnewInex = command.find("[SP:")
SPendInex = command.find("] [")
J1newIndex = command.find("X) ")
J2newIndex = command.find("Y) ")
J3newIndex = command.find("Z) ")
J4newIndex = command.find("W) ")
J5newIndex = command.find("P) ")
J6newIndex = command.find("R) ")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
SP = str(command[SPnewInex + 4:SPendInex])
CXa = eval("SP_" + SP + "_E1_EntryField").get()
CYa = eval("SP_" + SP + "_E2_EntryField").get()
CZa = eval("SP_" + SP + "_E3_EntryField").get()
CRxa = eval("SP_" + SP + "_E4_EntryField").get()
CRya = eval("SP_" + SP + "_E5_EntryField").get()
CRza = eval("SP_" + SP + "_E6_EntryField").get()
CX = float(CXa) + float(command[J1newIndex + 3:J2newIndex - 1])
CY = float(CYa) + float(command[J2newIndex + 3:J3newIndex - 1])
CZ = float(CZa) + float(command[J3newIndex + 3:J4newIndex - 1])
CRx = float(CRxa) + float(command[J4newIndex + 3:J5newIndex - 1])
CRy = float(CRya) + float(command[J5newIndex + 3:J6newIndex - 1])
CRz = float(CRza) + float(command[J6newIndex + 3:TRnewIndex - 1])
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy,
TCRz, Track)
##Move SP Command##
if (cmdType == "Move S"):
SPnewInex = command.find("[SP:")
SPendInex = command.find("] [")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
SP = str(command[SPnewInex + 4:SPendInex])
CX = float(eval("SP_" + SP + "_E1_EntryField").get())
CY = float(eval("SP_" + SP + "_E2_EntryField").get())
CZ = float(eval("SP_" + SP + "_E3_EntryField").get())
CRx = float(eval("SP_" + SP + "_E4_EntryField").get())
CRy = float(eval("SP_" + SP + "_E5_EntryField").get())
CRz = float(eval("SP_" + SP + "_E6_EntryField").get())
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy,
TCRz, Track)
##OFFS SP Command##
if (cmdType == "OFFS S"):
SPnewInex = command.find("[SP:")
SPendInex = command.find("] offs")
SP2newInex = command.find("[*SP:")
SP2endInex = command.find("] [")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
SP = str(command[SPnewInex + 4:SPendInex])
SP2 = str(command[SP2newInex + 5:SP2endInex])
CX = float(eval("SP_" + SP + "_E1_EntryField").get()) + float(eval("SP_" + SP2 + "_E1_EntryField").get())
CY = float(eval("SP_" + SP + "_E2_EntryField").get()) + float(eval("SP_" + SP2 + "_E2_EntryField").get())
CZ = float(eval("SP_" + SP + "_E3_EntryField").get()) + float(eval("SP_" + SP2 + "_E3_EntryField").get())
CRx = float(eval("SP_" + SP + "_E4_EntryField").get()) + float(eval("SP_" + SP2 + "_E4_EntryField").get())
CRy = float(eval("SP_" + SP + "_E5_EntryField").get()) + float(eval("SP_" + SP2 + "_E5_EntryField").get())
CRz = float(eval("SP_" + SP + "_E6_EntryField").get()) + float(eval("SP_" + SP2 + "_E6_EntryField").get())
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy,
TCRz, Track)
rowinproc = 0
def gotoFineCalPos():
command = fineCalEntryField.get()
J1newIndex = command.find("X) ")
J2newIndex = command.find("Y) ")
J3newIndex = command.find("Z) ")
J4newIndex = command.find("W) ")
J5newIndex = command.find("P) ")
J6newIndex = command.find("R) ")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
CX = float(command[J1newIndex + 3:J2newIndex - 1])
CY = float(command[J2newIndex + 3:J3newIndex - 1])
CZ = float(command[J3newIndex + 3:J4newIndex - 1])
CRx = float(command[J4newIndex + 3:J5newIndex - 1])
CRy = float(command[J5newIndex + 3:J6newIndex - 1])
CRz = float(command[J6newIndex + 3:TRnewIndex - 1])
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy, TCRz,
Track)
almStatusLab.config(text="MOVED TO FINE CALIBRATION POSITION", bg="yellow")
def exeFineCalPos():
command = fineCalEntryField.get()
J1newIndex = command.find("X) ")
J2newIndex = command.find("Y) ")
J3newIndex = command.find("Z) ")
J4newIndex = command.find("W) ")
J5newIndex = command.find("P) ")
J6newIndex = command.find("R) ")
TRnewIndex = command.find("T) ")
SpeedIndex = command.find("Speed-")
ACCdurIndex = command.find("Ad")
ACCspdIndex = command.find("As")
DECdurIndex = command.find("Dd")
DECspdIndex = command.find("Ds")
WristConfIndex = command.find("$")
CX = float(command[J1newIndex + 3:J2newIndex - 1])
CY = float(command[J2newIndex + 3:J3newIndex - 1])
CZ = float(command[J3newIndex + 3:J4newIndex - 1])
CRx = float(command[J4newIndex + 3:J5newIndex - 1])
CRy = float(command[J5newIndex + 3:J6newIndex - 1])
CRz = float(command[J6newIndex + 3:TRnewIndex - 1])
Track = float(command[TRnewIndex + 3:SpeedIndex - 1])
newSpeed = str(command[SpeedIndex + 6:ACCdurIndex - 1])
ACCdur = command[ACCdurIndex + 3:ACCspdIndex - 1]
ACCspd = command[ACCspdIndex + 3:DECdurIndex - 1]
DECdur = command[DECdurIndex + 3:DECspdIndex - 1]
DECspd = command[DECspdIndex + 3:WristConfIndex - 1]
WC = command[WristConfIndex + 1:]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
CalXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy, TCRz,
Track)
almStatusLab.config(text="CALIBRATED TO FINE CALIBRATE POSITION", bg="orange")
def stepFwd():
executeRow()
selRow = tab1.progView.curselection()[0]
last = tab1.progView.index('end')
for row in range(0, selRow):
tab1.progView.itemconfig(row, {'fg': 'dodger blue'})
tab1.progView.itemconfig(selRow, {'fg': 'blue2'})
for row in range(selRow + 1, last):
tab1.progView.itemconfig(row, {'fg': 'black'})
tab1.progView.selection_clear(0, END)
selRow += 1
tab1.progView.select_set(selRow)
time.sleep(.2)
try:
selRow = tab1.progView.curselection()[0]
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, selRow)
except:
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, "---")
def stepRev():
executeRow()
selRow = tab1.progView.curselection()[0]
last = tab1.progView.index('end')
for row in range(0, selRow):
tab1.progView.itemconfig(row, {'fg': 'black'})
tab1.progView.itemconfig(selRow, {'fg': 'red'})
for row in range(selRow + 1, last):
tab1.progView.itemconfig(row, {'fg': 'tomato2'})
tab1.progView.selection_clear(0, END)
selRow -= 1
tab1.progView.select_set(selRow)
time.sleep(.2)
try:
selRow = tab1.progView.curselection()[0]
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, selRow)
except:
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, "---")
#Blop
DiffArray = [0, 0, 0, 0, 0, 0, 0]
def preMove():
#DiffArray = [0, 0, 0, 0, 0, 0, 0]
#almStatusLab.config(text="SYSTEM READY", bg="grey")
CX = XcurPos + DiffArray[2]*0.01
CY = YcurPos + DiffArray[0]*0.01
CZ = ZcurPos + (DiffArray[1]*0.01)
CRx = RxcurPos# + DiffArray[4]
CRy = RycurPos# + DiffArray[5]
CRz = RzcurPos# + DiffArray[6]
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
Track = float(TrackcurEntryField.get())
newSpeed = speedEntryField.get()
ACCdur = ACCdurField.get()
ACCspd = ACCspeedField.get()
DECdur = DECdurField.get()
DECspd = DECspeedField.get()
print("move now to" + str(CX) +" " + str(CY) + " "+ str(CZ))
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy,
TCRz, Track)
def preMove2(x,y,z, rx, ry, rz):
CX = XcurPos - x
CY = YcurPos - y
CZ = ZcurPos + z
CRx = RxcurPos + rx * 100
CRy = RycurPos
CRz = RzcurPos
TCX = 0
TCY = 0
TCZ = 0
TCRx = 0
TCRy = 0
TCRz = 0
Track = float(TrackcurEntryField.get())
newSpeed = speedEntryField.get()
ACCdur = ACCdurField.get()
ACCspd = ACCspeedField.get()
DECdur = DECdurField.get()
DECspd = DECspeedField.get()
print("try move with: ",x,y,z, rx, ry, rz)
MoveXYZ(CX, CY, CZ, CRx, CRy, CRz, newSpeed, ACCdur, ACCspd, DECdur, DECspd, WC, TCX, TCY, TCZ, TCRx, TCRy, TCRz,
Track)
#Blop
def vrValueProcessor():
##Blop
global b
global MoveArrayScaled
global moveMag
global scale
global finalScale
finalScale = 800
scale = 50
v = triad_openvr.triad_openvr()
v.print_discovered_objects()
#b = 0
#preMove2(0,0,-200)
#time.sleep(1)
#while b < 100:
# preMove2(0, 0, 2)
# b = b + 1
DiffArray = [0, 0, 0, 0, 0, 0, 0]
MoveArrayScaled = [0,0,0]
LocArray = v.devices["tracker_1"].get_pose_quaternion()
while True:
if v.devices["tracker_1"].get_pose_quaternion()[0] != 0:
b = 0
print("1")
LastLocArray = v.devices["tracker_1"].get_pose_quaternion()
print("wait",float(delayField.get()) / 2)
time.sleep(float(delayField.get()) / 2)
print("2")
LocArray = v.devices["tracker_1"].get_pose_quaternion()
#while b < 7:
# LocArray[b] = 10 * truncate(LocArray[b], 3)
# b = b + 1
#array(left is neg y, -z, -x)
DiffArray = [(LastLocArray[0] - LocArray[0]), (LastLocArray[1] - LocArray[1]) * -1, (LastLocArray[2] - LocArray[2])* -1,LastLocArray[3] - LocArray[3], LastLocArray[3] - LocArray[3], LastLocArray[4] - LocArray[4],LastLocArray[5] - LocArray[5], LastLocArray[6] - LocArray[6]]
DiffArray[3] = 0
DiffArray[4] = 0
DiffArray[5] = 0
print ("Dif: ",DiffArray[2],DiffArray[0],DiffArray[1], DiffArray[3] * 10, DiffArray[4], DiffArray[5])
try:
if DiffArray[1] > 0:
preMove2(finalScale * DiffArray[2], finalScale * DiffArray[0], finalScale * DiffArray[1], DiffArray[3], DiffArray[4], DiffArray[5])
else:
preMove2(finalScale * DiffArray[2], finalScale * DiffArray[0], finalScale * 0.94 * DiffArray[1],DiffArray[3], DiffArray[4], DiffArray[5])
except:
print"error"
else:
print ("Loc: " + str(LocArray[2]) + "LOST")
#if (abs(DiffArray[2]) > 0.001) or (abs(DiffArray[0]) > 0.001) or (abs(DiffArray[1]) > 0.001):
#try:
#moveMag = math.sqrt(scale * DiffArray[2] * scale * DiffArray[2]+ scale* DiffArray[0]* scale* DiffArray[0]+scale* DiffArray[1]*scale* DiffArray[1])
#MoveArrayScaled[0] = scale * -1 * DiffArray[2]/ moveMag
#MoveArrayScaled[1] = scale * -1 * DiffArray[0] / moveMag
#MoveArrayScaled[2] = scale * DiffArray[1] / moveMag
#preMove2(finalScale*MoveArrayScaled[0],finalScale*MoveArrayScaled[1],finalScale*MoveArrayScaled[2])
#except:
#print"domain error"
#v.devices["controller_1"].vr.triggerHapticPulse(v.devices["controller_1"].index, 0, 4000);
#else:
# v.devices["controller_1"].vr.triggerHapticPulse(v.devices["controller_1"].index, 0, 4000);
#print("going to: " + str(LocArray))
if runLoop == 0:
break
time.sleep(float(delayField.get()) / 2)
# start = time.time()
# txt = ""
# count = 0
# for each in v.devices["controller_1"].get_pose_quaternion():
# if count < 6:
# print each
# count = count + 1
# else:
# time.sleep(1)
# print("\n")
# print each
# count = 0
#Blop
def runProg():
def threadProg():
global rowinproc
try:
curRow = tab1.progView.curselection()[0]
if (curRow == 0):
curRow = 1
except:
curRow = 1
tab1.progView.selection_clear(0, END)
tab1.progView.select_set(curRow)
tab1.runTrue = 1
while tab1.runTrue == 1:
if (tab1.runTrue == 0):
runStatusLab.config(text='PROGRAM STOPPED', bg="red")
else:
runStatusLab.config(text='PROGRAM RUNNING', bg="green")
rowinproc = 1
executeRow()
while rowinproc == 1:
time.sleep(.2)
selRow = tab1.progView.curselection()[0]
last = tab1.progView.index('end')
for row in range(0, selRow):
tab1.progView.itemconfig(row, {'fg': 'dodger blue'})
tab1.progView.itemconfig(selRow, {'fg': 'blue2'})
for row in range(selRow + 1, last):
tab1.progView.itemconfig(row, {'fg': 'black'})
tab1.progView.selection_clear(0, END)
selRow += 1
tab1.progView.select_set(selRow)
curRow += 1
time.sleep(.2)
try:
selRow = tab1.progView.curselection()[0]
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, selRow)
except:
curRowEntryField.delete(0, 'end')
curRowEntryField.insert(0, "---")
tab1.runTrue = 0
runStatusLab.config(text='PROGRAM STOPPED', bg="red")
runLoop = 1
vrValueProcessor()
# Blop !!!!!
t = threading.Thread(target=threadProg)
t.start()
def stopProg():
lastProg = ""
runLoop = 0
tab1.runTrue = 0
if (tab1.runTrue == 0):
runStatusLab.config(text='PROGRAM STOPPED', bg="red")
else:
runStatusLab.config(text='PROGRAM RUNNING', bg="green")
def calRobotAll():
calaxis = "111111"
speed = "50"
calRobot(calaxis, speed)
### calc correct calibration direction
if (J1caldir == J1motdir):
J1caldrive = "1"
else:
J1caldrive = "0"
if (J2caldir == J2motdir):
J2caldrive = "1"
else:
J2caldrive = "0"
if (J3caldir == J3motdir):
J3caldrive = "1"
else:
J3caldrive = "0"
if (J4caldir == J4motdir):
J4caldrive = "1"
else:
J4caldrive = "0"
if (J5caldir == J5motdir):
J5caldrive = "1"
else:
J5caldrive = "0"
if (J6caldir == J6motdir):
J6caldrive = "1"
else:
J6caldrive = "0"
command = "MJA" + J1caldrive + "500" + "B" + J2caldrive + "500" + "C" + J3caldrive + "500" + "D" + J4caldrive + "500" + "E" + J5caldrive + "500" + "F" + J6caldrive + "500" + "S15G10H10I10K10"
ser.write(command + "\n")
ser.flushInput()
speed = "8"
time.sleep(2.5)
calRobot(calaxis, speed)
gotoFineCalPos()
def calRobotJ1():
calaxis = "100000"
speed = "40"
calRobot(calaxis, speed)
### calc correct calibration direction
if (J1caldir == J1motdir):
J1caldrive = "1"
else:
J1caldrive = "0"
command = "MJA" + J1caldrive + "500" + "S15G10H10I10K10"
ser.write(command + "\n")
ser.flushInput()
speed = "8"
time.sleep(2.5)
calRobot(calaxis, speed)
def calRobotJ2():
calaxis = "010000"
speed = "40"
calRobot(calaxis, speed)
### calc correct calibration direction
if (J2caldir == J2motdir):
J2caldrive = "1"
else:
J2caldrive = "0"
command = "MJB" + J2caldrive + "500" + "S15G10H10I10K10"
ser.write(command + "\n")
ser.flushInput()
speed = "8"
time.sleep(2.5)
calRobot(calaxis, speed)
def calRobotJ3():
calaxis = "001000"
speed = "40"
calRobot(calaxis, speed)
### calc correct calibration direction
if (J3caldir == J3motdir):
J3caldrive = "1"
else:
J3caldrive = "0"
command = "MJC" + J3caldrive + "500" + "S15G10H10I10K10"
ser.write(command + "\n")