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MidTermBaseArmWireless.py
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MidTermBaseArmWireless.py
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import time
import stretch_body.robot
import serial
import os
from stretch_body.hello_utils import *
ser = serial.Serial("/dev/ttyUSB3", 9600)
if __name__ == '__main__':
robot = stretch_body.robot.Robot()
robot.startup()
robot.stow() #blocking
robot.base.set_velocity(0.05, 0.1)
robot.base.push_command()
robot.lift.set_soft_motion_limit_min(0.2,limit_type='user')
robot.lift.set_soft_motion_limit_max(0.98,limit_type='user')
v_des=stretch_body.wrist_yaw.WristYaw().params['motion']['default']['vel']
a_des=stretch_body.wrist_yaw.WristYaw().params['motion']['default']['accel']
setflagArm = setflagWrist = setflagBase = setflagGripper = True
if not robot.base.startup():
exit() # failed to start base!
robot.base.translate_by(x_m=0.03)
robot.push_command()
print("init successful")
x = robot.end_of_arm.status['wrist_yaw']['pos']
robot.end_of_arm.move_to('wrist_yaw', float((x-deg_to_rad(5))),v_des, a_des)
robot.end_of_arm.move_by('stretch_gripper', 100)
robot.push_command()
time.sleep(2)
mode = ' '
os.system('paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /home/hello-robot/ready.ogg')
while True:
cc=str(ser.readline())
print(cc)
if '1' in cc:
#print("1/f")
if mode == 'arm':
robot.lift.move_by(x_m=-0.05)
robot.push_command()
if mode == 'base':
robot.base.set_velocity(0.05, 0.1)
robot.base.push_command()
robot.base.translate_by(x_m=0.02)
robot.push_command()
if mode == 'wrist':
x = robot.end_of_arm.status['wrist_pitch']['pos']
robot.end_of_arm.move_to('wrist_pitch', float((x-deg_to_rad(2))),v_des, a_des)
robot.push_command()
if mode == 'gripper':
#robot.end_of_arm.move_by('stretch_gripper',0)
#robot.push_command()
pass
#############################################
if '2' in cc:
#print("2/b")
if mode == 'arm':
robot.lift.move_by(x_m=0.05)
robot.push_command()
if mode == 'base':
robot.base.set_velocity(0.05, 0.1)
robot.base.push_command()
robot.base.translate_by(x_m=-0.02)
robot.push_command()
if mode == 'wrist':
x = robot.end_of_arm.status['wrist_pitch']['pos']
robot.end_of_arm.move_to('wrist_pitch', float((x+deg_to_rad(2))),v_des, a_des)
robot.push_command()
if mode == 'gripper':
#robot.end_of_arm.move_by('stretch_gripper',-100)
#robot.push_command()
pass
#############################################
if '3' in cc:
#print("3/l")
if mode == 'arm':
robot.arm.move_by(-0.05)
robot.push_command()
if mode == 'base':
robot.base.set_velocity(0.05, 0.1)
robot.base.push_command()
robot.base.rotate_by(0.05)
robot.push_command()
if mode == 'wrist':
x = robot.end_of_arm.status['wrist_yaw']['pos']
robot.end_of_arm.move_to('wrist_yaw', float((x+deg_to_rad(2))),v_des, a_des)
robot.push_command()
if mode == 'gripper':
robot.end_of_arm.move_by('stretch_gripper', 100)
robot.push_command()
#############################
if '4' in cc:
#print("4/r")
if mode == 'arm':
robot.arm.move_by(0.05)
robot.push_command()
if mode == 'base':
robot.base.set_velocity(0.05, 0.1)
robot.base.push_command()
robot.base.rotate_by(-0.05)
robot.push_command()
if mode == 'wrist':
x = robot.end_of_arm.status['wrist_yaw']['pos']
robot.end_of_arm.move_to('wrist_yaw', float((x-deg_to_rad(2))),v_des, a_des)
robot.push_command()
if mode == 'gripper':
robot.end_of_arm.move_by('stretch_gripper', -5)
robot.push_command()
#################################
if '5' in cc:
#print("5/s")
if mode == 'base':
robot.base.set_velocity(0, 0)
robot.base.push_command()
##################################
if '6' in cc and setflagBase is True:
mode = 'base'
os.system('paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /home/hello-robot/base.ogg')
cc = '0'
setflagBase = False
setflagArm = setflagWrist = setflagGripper = True
####################################
if '7' in cc and setflagArm is True:
mode = 'arm'
os.system('paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /home/hello-robot/arm.ogg')
cc = '0'
setflagArm = False
setflagBase = setflagWrist = setflagGripper = True
###################################
if '8' in cc and setflagWrist is True:
mode = 'wrist'
os.system('paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /home/hello-robot/wrist.ogg')
cc = '0'
setflagWrist = False
setflagArm = setflagBase = setflagGripper = True
##################################
if '9' in cc and setflagGripper is True:
mode = 'gripper'
os.system('paplay --device=alsa_output.pci-0000_00_1f.3.analog-stereo /home/hello-robot/gripper.ogg')
cc = '0'
setflagGripper = False
setflagArm = setflagWrist = setflagBase = True