Merge branch 'master' of https://git.theater.digital/philipp.kramer/urcontrol

tests/pantilt_inv.py

@@ -2,9 +2,40 @@ import rtde_control
 import time
 import math
 import socket
-import keyboard # pip install keyboard
 import numpy as np
 
+import pygame
+
+pygame.init()
+screen = pygame.display.set_mode([500, 500])
+running = True
+
+c_border = (100,100,100)
+c_name=(200,200,200)
+c_cursor = (255,255,255)
+c_text=(255,255,255)
+
+def mapFromTo(x,a,b,c,d):
+   y=(x-a)/(b-a)*(d-c)+c
+   return y
+
+def text_to_screen(screen, text, x, y, size = 50,
+    color = (200, 000, 000)):
+
+    text = str(text)
+    font = pygame.font.SysFont(None, size)
+    text = font.render(text, True, color)
+    screen.blit(text, (x, y))
+
+    
+def drawBar(screen,_topleft,_size,_pos,_name,_text):
+    pygame.draw.rect(screen, c_border, (_topleft[0],_topleft[1],_size[0],_size[1]))
+    text_to_screen(screen,_name,_topleft[0],_topleft[1],_size[1],c_name)
+    pygame.draw.line(screen, c_cursor, (_topleft[0]+_pos*_size[0],_topleft[1]),(_topleft[0]+_pos*_size[0],_topleft[1]+_size[1]))
+    text_to_screen(screen,_text,_size[0]+_topleft[0],_topleft[1],_size[1],c_text)
+
+
+
 # Socket stuff
 s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
 host =""
@@ -59,7 +90,7 @@ def RPYtoVec(roll,pitch,yaw):
 
     return rx, ry, rz
 
-paused=False
+paused=True
 
 actual_q = rtde_r.getActualQ() #current joint rotations in radians.
 print("Actual Q:"+str(actual_q))
@@ -69,8 +100,13 @@ print("forward Actual Q:"+str(fw_actual_q))
 joint_q=rtde_c.getInverseKinematics(fw_actual_q)
 print("Final Q:"+str(joint_q))
 
+winkellimit=45
 
-centerpos=[-0.895,-0.177,0.91]
+maxbasedeviation=20 # in degrees, maximum rotation deviation from 0°
+distfromcenter=0.9
+basedeviation=0
+centerpos=[math.cos(toRad(180))*distfromcenter,math.sin(toRad(180))*distfromcenter,0.91]
+#centerpos=[-0.895,-0.177,0.91]
 centerrotRPY=[-1.572,0,1.572] #roll, pitch, yaw
 
 pan=0 #-=left, +=right, degrees
@@ -79,13 +115,6 @@ tilt=0 #-=down, +=up, degrees
 joint_q_init=[0,toRad(-90),toRad(90),toRad(-180),toRad(-90),toRad(0)]   #start position
 joint_q=joint_q_init
 
-'''
-_rot=RPYtoVec(centerrotRPY[0],centerrotRPY[1],centerrotRPY[2])
-pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]
-
-joint_q2=rtde_c.getInverseKinematics(pos_q,joint_q_init)
-print("Ninal Q:"+str(joint_q2))
-'''
 
 #rtde_c.moveJ([0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)],0.1,0.1)
 
@@ -109,19 +138,33 @@ speed=[1,1,1,3,3,3]
 def constrain(v,_min,_max):
     return min(_max,max(_min,v))
 
-print("Press s to start")
+
 print("Press q to stop")
 print("Press p to pause")
-while not keyboard.is_pressed("s"):
+print("Press s to resume")
-    if keyboard.is_pressed("q"):
+
-        exit()
-    time.sleep(0.1)
 
 print("Starting Servo")
-while not keyboard.is_pressed("q"):
+while running:
     
     start = time.time()
 
+
+
+    for event in pygame.event.get():
+        if event.type == pygame.KEYDOWN:
+            if event.key == pygame.K_p and paused==False:
+                print("paused")
+                paused=True
+            if event.key == pygame.K_s and paused==True:
+                print("resumed")
+                paused=False
+            if event.key == pygame.K_q:
+                print("stop")
+                running=False
+        if event.type == pygame.QUIT:
+            running = False
+
     # Receive Socket stuff
     try:
         client, address = s.accept()
@@ -138,27 +181,33 @@ while not keyboard.is_pressed("q"):
                 #print("Received :", repr(data))
                 if (len(lastdata)>1):
                     splitdata=lastdata[-2].split(",")
-                
+                    if len(splitdata)==2:
-                    try:
+                        try:
-                        _pan=float(splitdata[0])
+                            _pan=float(splitdata[0])
-                        _tilt=float(splitdata[1])
+                            _tilt=float(splitdata[1])
 
-                        winkellimit=45
+                            
-                        if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
+                            if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
-                            pan=_pan
+                                pan=_pan
-                            tilt=_tilt
+                                tilt=_tilt
 
-                        print("Pan="+str(pan)+" Tilt="+str(tilt))
+                            print("Pan="+str(pan)+" Tilt="+str(tilt))
-                    except ValueError:
+                        except ValueError:
-                        print("Not a float")
+                            print("Not a float")
         except socket.error:
             pass
 
 
     # Robot Control stuff
+    if not paused:
+        basedeviation=min(maxbasedeviation,max(-maxbasedeviation,basedeviation+pan*1/frequency))
+
+    baserotation=toRad(180-basedeviation) #positive is ccw
+    centerpos=[math.cos(baserotation)*distfromcenter,math.sin(baserotation)*distfromcenter,0.91]
     _rot=RPYtoVec(centerrotRPY[0]+toRad(tilt),centerrotRPY[1],centerrotRPY[2]+toRad(-pan))
     pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]
     joint_q_aim=rtde_c.getInverseKinematics(pos_q,joint_q_init)
+
     #joint_q_aim = rtde_c.getInverseKinematics([-0.895,-0.173,0.911,2.4,2.4,2.4])
     # inverse kinematics: rx+ =look up
     # ry+ = look right
@@ -168,43 +217,40 @@ while not keyboard.is_pressed("q"):
     if not reachable:
         print("Reachable:"+str(reachable))
 
+
     insideJointConstraints=True
-    if joint_q_aim[0]<toRad(-20) or joint_q_aim[0]>toRad(20):
+    joint_min=[toRad(-90),toRad(-90-40),toRad(90-90),toRad(-180-80),toRad(-90-90),toRad(0-75)]
-        print("Joint 0 Outside constraint with "+str(joint_q_aim[0])+" ("+str(toDeg(joint_q_aim[0]))+")")
+    joint_max=[toRad(90),toRad(-90+40),toRad(90+40),toRad(-180+110),toRad(-90+90),toRad(0+75)]
-        insideJointConstraints=False
+    for i in range(6):
-    if joint_q_aim[1]<toRad(-90-40) or joint_q_aim[1]>toRad(-90+40):
+        if joint_q_aim[i]<joint_min[i] or joint_q_aim[i]>joint_max[i]:
-        print("Joint 1 Outside constraint with "+str(joint_q_aim[1])+" ("+str(toDeg(joint_q_aim[1]))+")")
+            print("Joint "+str(i)+" Outside constraint with "+str(joint_q_aim[i])+" ("+str(toDeg(joint_q_aim[i]))+")")
-        insideJointConstraints=False
+            insideJointConstraints=False
-    if joint_q_aim[2]<toRad(90-90) or joint_q_aim[2]>toRad(90+40):
-        print("Joint 2 Outside constraint with "+str(joint_q_aim[2])+" ("+str(toDeg(joint_q_aim[2]))+")")
-        insideJointConstraints=False
-    if joint_q_aim[3]<toRad(-180-80) or joint_q_aim[3]>toRad(-180+110):
-        print("Joint 3 Outside constraint with "+str(joint_q_aim[3])+" ("+str(toDeg(joint_q_aim[3]))+")")
-        insideJointConstraints=False
-    if joint_q_aim[4]<toRad(-90-70) or joint_q_aim[4]>toRad(-90+70):
-        print("Joint 4 Outside constraint with "+str(joint_q_aim[4])+" ("+str(toDeg(joint_q_aim[4]))+")")
-        insideJointConstraints=False
-    if joint_q_aim[5]<toRad(0-60) or joint_q_aim[5]>toRad(0+60):
-        print("Joint 5 Outside constraint with "+str(joint_q_aim[5])+" ("+str(toDeg(joint_q_aim[5]))+")")
-        insideJointConstraints=False
 
 
     if reachable and insideJointConstraints and not paused:
         for i in range(6):
             joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -speed[i]/frequency,speed[i]/frequency) #constrain joint speeds
         
-
-
-    if keyboard.is_pressed("p"):
-        print("paused")
-        paused=True
-    if keyboard.is_pressed("s"):
-        print("resumed")
-        paused=False
     
     #print(joint_q)
 
-    rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
+    if not paused:
+        rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
+
+    
+
+    screen.fill((0,0,0))
+    #pygame.draw.circle(screen, (0, 0, 255), (250, 250), 75)
+    jointnames=["Base","Shoulder","Elbow","Wrist1","Wrist2","Wrist3"]
+    
+    for i in range(6):
+        drawBar(screen,(10,10+30*i),(100,20),mapFromTo(joint_q[i],joint_min[i],joint_max[i],0.0,1.0),jointnames[i],str(round(toDeg(joint_q[i]),2))+"°")
+
+
+    drawBar(screen,(10,10+30*8),(100,20),mapFromTo(basedeviation,-maxbasedeviation,maxbasedeviation,0.0,1.0),"basedeviation",str(round(basedeviation,2))+"°")
+        
+    
+    pygame.display.flip()
     
     end = time.time()
     stepduration = end - start
@@ -223,4 +269,3 @@ rtde_c.stopScript()
 
 s.close()
 
-