"""A simple script demonstrating the basic usage of the cb2_robot class"""
# The MIT License (MIT)
#
# Copyright (c) 2016 GTRC.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
import cb2_robot
import time
import random
[docs]def main():
HOST = "192.168.1.100" # The remote host
PORT = 30003 # The same port as used by the server
with cb2_robot.URRobot(HOST, PORT) as robot:
angleStart = [90, -95, 90, 0, 90, 90]
angleStart = map(cb2_robot.cb2_send.deg_2_rad, angleStart)
center = [100.0/1000, -475.0/1000, 425.0/1000, 1.2, -1.2, 1.2]
robot.add_goal(cb2_robot.Goal(angleStart, False, 'joint'))
thisMove = list(center)
thisMove[0] = center[0] - .2
thisMove[2] = center[2] - .2
robot.add_goal(cb2_robot.Goal(thisMove, True, 'linear'))
thisMove = list(center)
thisMove[0] = center[0] + .2
thisMove[2] = center[2] - .2
robot.add_goal(cb2_robot.Goal(thisMove, True, 'linear'))
thisMove = list(center)
thisMove[0] = center[0] + .2
thisMove[2] = center[2] + .2
robot.add_goal(cb2_robot.Goal(thisMove, True, 'linear'))
thisMove = list(center)
thisMove[0] = center[0] - .2
thisMove[2] = center[2] + .2
robot.add_goal(cb2_robot.Goal(thisMove, True, 'linear'))
# robot.move_now()
while not robot.goals.empty():
robot.move_on_stop()
print 'complete loop 1'
while not (robot.is_stopped() and robot.at_goal()):
time.sleep(.01)
for i in range(0, 15):
thisMove = list(center)
thisMove[0] = center[0] + random.uniform(-.2, .2)
thisMove[2] = center[2] + random.uniform(-.2, .2)
robot.add_goal(cb2_robot.Goal(thisMove, True, 'linear'))
while not robot.goals.empty():
robot.move_on_stop()
print 'complete loop 2'
if __name__=="main":
main()
