85 lines
1.7 KiB
Python
85 lines
1.7 KiB
Python
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import rtde_control
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import time
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import math
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import socket
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rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
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import rtde_receive
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rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")
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def toRad(d):
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return d/360*2*math.pi
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'''
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actual_q = rtde_r.getActualQ() #current joint rotations in radians.
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print("Actual Q:"+str(actual_q))
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fw_actual_q = rtde_c.getForwardKinematics(actual_q)
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print("forward Actual Q:"+str(fw_actual_q))
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joint_q=rtde_c.getInverseKinematics(fw_actual_q)
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print("Final Q:"+str(joint_q))
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'''
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pan=0 #-=left, +=right, degrees
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tilt=0 #-=down, +=up, degrees
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joint_q=[0,toRad(-90),toRad(90),toRad(-180),toRad(-90),toRad(0)] #start position
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#rtde_c.moveJ([0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)],0.1,0.1)
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rtde_c.moveJ(joint_q,0.1,0.1) #move to initial position
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# Parameters
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duration = 20 #in seconds
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velocity = 0.1 #0.5
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acceleration = 0.1 #0.5
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frequency= 100
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dt = 1.0/frequency # 2ms
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lookahead_time = 0.1
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gain = 300
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speed=0.1/frequency
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def constrain(v,_min,_max):
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return min(_max,max(_min,v))
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print("Starting Servo")
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for i in range(frequency*duration):
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start = time.time()
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joint_q_aim = [0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)]
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if (round(i/(frequency*5))%2==1):
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tilt=20
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else:
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tilt=-20
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for i in range(6):
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joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -speed,speed)
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print(joint_q)
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rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
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end = time.time()
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stepduration = end - start
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if stepduration < dt:
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time.sleep(dt - stepduration)
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print("Finished")
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rtde_c.servoStop()
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rtde_c.stopScript()
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