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4 files changed

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‎python.xcodeproj/project.pbxproj‎

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/* Begin PBXFileReference section */
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0758C2DA1F1C4E4E00A69097 /* samplepy.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = samplepy.py; sourceTree = "<group>"; };
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0758C2DB1F1C54B600A69097 /* basic_example.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = basic_example.py; sourceTree = "<group>"; };
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0758C2DC1F1C57CF00A69097 /* uArmRobot.py */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.script.python; path = uArmRobot.py; sourceTree = "<group>"; usesTabs = 0; wrapsLines = 0; };
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/* End PBXFileReference section */
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/* Begin PBXGroup section */
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0758C2CF1F1C4DCB00A69097 = {
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isa = PBXGroup;
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children = (
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0758C2DC1F1C57CF00A69097 /* uArmRobot.py */,
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0758C2DA1F1C4E4E00A69097 /* samplepy.py */,
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0758C2DB1F1C54B600A69097 /* basic_example.py */,
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);
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sourceTree = "<group>";
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};

‎python.xcodeproj/xcuserdata/Eric.xcuserdatad/xcschemes/python.xcscheme‎

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<?xml version="1.0" encoding="UTF-8"?>
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<Scheme
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LastUpgradeVersion = "0830"
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version = "1.3">
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version = "1.7">
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<BuildAction
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parallelizeBuildables = "YES"
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buildImplicitDependencies = "YES">
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</CommandLineArguments>
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<AdditionalOptions>
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</AdditionalOptions>
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<LocationScenarioReference
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identifier = "com.apple.dt.IDEFoundation.CurrentLocationScenarioIdentifier"
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referenceType = "1">
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</LocationScenarioReference>
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</LaunchAction>
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<ProfileAction
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buildConfiguration = "Release"

‎samplepy.py‎

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print "Hello, World!"
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# uArm Swift Pro - Python Library
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# Created by: Richard Garsthagen - [email protected]
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# V0.2 - June 2017 - Still under development
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import serial
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import time
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import protocol_swiftpro as protocol
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import threading
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import sys
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import math
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from math import pi
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class robot:
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serid = 100
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num_of_robots = 0
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baud = 115200
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serial_timeout = 1
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connect_timeout = 1
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debug = False
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baseThreadCount = threading.activeCount()
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delay_after_move = 0.1
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def __init__(self, serialport):
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self.serialport = serialport
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self.connected = False
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robot.num_of_robots += 1
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self.moving = False
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self.pumping = False
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def connect(self):
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try:
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if (self.debug): print ("trying to connect to: " + self.serialport)
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self.ser = serial.Serial(self.serialport, 115200, timeout=1)
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time.sleep(self.connect_timeout)
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Ready = False
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while (not Ready):
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line = self.ser.readline()
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if (self.debug): print (line)
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if line.startswith("@5"):
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Ready = True
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self.connected = True
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if (self.debug): print ("Connected!")
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return True
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line = self.ser.readline() # Ignore if @6 response is given
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print (line)
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except Exception as e:
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if (self.debug): print ("Error trying to connect to: " + self.serialport + " - " + str(e))
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self.connected = False
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return False
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def disconnect(self):
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if self.connected:
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if (self.debug): print ("Closing serial connection")
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self.connected = False
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self.ser.close()
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else:
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if (self.debug): print ("Disconnected called while not connected")
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def sendcmd(self, cmnd, waitresponse):
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if (self.connected):
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id = self.serid
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self.serid += 1
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cmnd = "#{} {}".format(id,cmnd)
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cmndString = bytes(cmnd + "\n")
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if (self.debug): print ("Serial send: {}".format(cmndString))
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self.ser.write(cmndString)
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if (waitresponse):
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line = self.ser.readline()
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while not line.startswith("$" + str(id)):
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line = self.ser.readline()
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if (self.debug): print ("Response {}".format(line))
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if (self.moving):
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self.moving = False
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time.sleep(self.delay_after_move)
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return line
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else:
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if (self.debug):
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print ("error, trying to send command while not connected")
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self.moving = False
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def goto(self,x,y,z,speed):
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self.moving = True
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x = str(round(x, 2))
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y = str(round(y, 2))
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z = str(round(z, 2))
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s = str(round(speed, 2))
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cmd = protocol.SET_POSITION.format(x,y,z,s)
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self.sendcmd(cmd, True)
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def async_goto(self,x,y,z, speed):
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self.moving = True
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t = threading.Thread( target=self.goto , args=(x,y,z,speed) )
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t.start()
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def pump(self, state):
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self.pumping = state
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cmd = protocol.SET_PUMP.format(int(state))
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self.sendcmd(cmd,True)
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def mode(self, modeid):
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# 0= Normal
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# 1= Laser
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# 2= 3D Printer
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# 3= Universal holder
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cmd = protocol.SET_MODE.format(modeid)
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self.sendcmd(cmd,True)
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@staticmethod
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def PointsInCircum(r,n):
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return [(math.cos(2*pi/n*x)*r,math.sin(2*pi/n*x)*r) for x in xrange(0,n+1)]
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def drawCircle(self, centerX, centerY, Radius, Resolution, Speed, DrawingHeight, StartFinishedHeight):
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if (Resolution < 4):
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#ignore drwaing circle, to low resoution
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if (self.debug): print ("Ignoring drwaing circle, to low resolution requested")
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return
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if (self.debug): print ("Drwaing circle of {} radius in {} steps".format(Radius,Resolution))
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offsetx = centerX
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offsety = centerY
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c = self.PointsInCircum(Radius,Resolution)
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bx,by = c[0]
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self.goto(offsetx+bx,offsety+by,StartFinishedHeight,Speed)
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for p in range(0,Resolution):
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x,y = c[p]
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self.goto(offsetx+x,offsety+y,DrawingHeight,Speed)
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self.goto(offsetx+bx,offsety+by,DrawingHeight,Speed)
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time.sleep(0.5)
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self.goto(offsetx+bx,offsety+by,StartFinishedHeight,Speed)
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‎uArmRobot.py‎

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# uArm Swift Pro - Python Library
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# Created by: Richard Garsthagen - [email protected]
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# V0.2 - June 2017 - Still under development
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import serial
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import time
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import protocol_swiftpro as protocol
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import threading
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import sys
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import math
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from math import pi
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class robot:
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serid = 100
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num_of_robots = 0
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baud = 115200
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serial_timeout = 1
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connect_timeout = 1
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debug = False
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baseThreadCount = threading.activeCount()
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delay_after_move = 0.1
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def __init__(self, serialport):
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self.serialport = serialport
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self.connected = False
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robot.num_of_robots += 1
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self.moving = False
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self.pumping = False
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def connect(self):
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try:
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if (self.debug): print ("trying to connect to: " + self.serialport)
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self.ser = serial.Serial(self.serialport, 115200, timeout=1)
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time.sleep(self.connect_timeout)
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Ready = False
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while (not Ready):
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line = self.ser.readline()
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if (self.debug): print (line)
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if line.startswith("@5"):
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Ready = True
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self.connected = True
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if (self.debug): print ("Connected!")
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return True
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line = self.ser.readline() # Ignore if @6 response is given
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print (line)
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except Exception as e:
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if (self.debug): print ("Error trying to connect to: " + self.serialport + " - " + str(e))
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self.connected = False
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return False
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def disconnect(self):
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if self.connected:
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if (self.debug): print ("Closing serial connection")
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self.connected = False
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self.ser.close()
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else:
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if (self.debug): print ("Disconnected called while not connected")
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def sendcmd(self, cmnd, waitresponse):
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if (self.connected):
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id = self.serid
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self.serid += 1
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cmnd = "#{} {}".format(id,cmnd)
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cmndString = bytes(cmnd + "\n")
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if (self.debug): print ("Serial send: {}".format(cmndString))
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self.ser.write(cmndString)
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if (waitresponse):
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line = self.ser.readline()
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while not line.startswith("$" + str(id)):
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line = self.ser.readline()
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if (self.debug): print ("Response {}".format(line))
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if (self.moving):
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self.moving = False
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time.sleep(self.delay_after_move)
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return line
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else:
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if (self.debug):
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print ("error, trying to send command while not connected")
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self.moving = False
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def goto(self,x,y,z,speed):
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self.moving = True
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x = str(round(x, 2))
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y = str(round(y, 2))
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z = str(round(z, 2))
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s = str(round(speed, 2))
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cmd = protocol.SET_POSITION.format(x,y,z,s)
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self.sendcmd(cmd, True)
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def async_goto(self,x,y,z, speed):
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self.moving = True
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t = threading.Thread( target=self.goto , args=(x,y,z,speed) )
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t.start()
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def pump(self, state):
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self.pumping = state
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cmd = protocol.SET_PUMP.format(int(state))
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self.sendcmd(cmd,True)
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def mode(self, modeid):
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# 0= Normal
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# 1= Laser
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# 2= 3D Printer
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# 3= Universal holder
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cmd = protocol.SET_MODE.format(modeid)
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self.sendcmd(cmd,True)
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@staticmethod
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def PointsInCircum(r,n):
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return [(math.cos(2*pi/n*x)*r,math.sin(2*pi/n*x)*r) for x in xrange(0,n+1)]
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def drawCircle(self, centerX, centerY, Radius, Resolution, Speed, DrawingHeight, StartFinishedHeight):
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if (Resolution < 4):
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#ignore drwaing circle, to low resoution
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if (self.debug): print ("Ignoring drwaing circle, to low resolution requested")
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return
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if (self.debug): print ("Drwaing circle of {} radius in {} steps".format(Radius,Resolution))
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offsetx = centerX
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offsety = centerY
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c = self.PointsInCircum(Radius,Resolution)
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bx,by = c[0]
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self.goto(offsetx+bx,offsety+by,StartFinishedHeight,Speed)
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for p in range(0,Resolution):
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x,y = c[p]
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self.goto(offsetx+x,offsety+y,DrawingHeight,Speed)
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self.goto(offsetx+bx,offsety+by,DrawingHeight,Speed)
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time.sleep(0.5)
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self.goto(offsetx+bx,offsety+by,StartFinishedHeight,Speed)
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