Go to the documentation of this file.00001
00002
00003
00004
00005
00006 """
00007 This Skript demonstrates the use of the KNI library through the Python wrapper
00008 For API doc, read the kni_wrapper doc or the kni_wrapper.h file.
00009 """
00010
00011 import sys
00012 sys.path.append("../")
00013 import KNI
00014 from KNI import TMovement
00015
00016
00017 import KNI
00018 KNI.initKatana("../../configfiles450/katana6M90T.cfg", "192.168.1.1")
00019 KNI.calibrate(0)
00020
00021 home = TMovement()
00022 KNI.getPosition(home.pos)
00023 home.transition = KNI.PTP
00024 home.velocity = 50
00025 home.acceleration = 2
00026
00027 raw_input("Press [ENTER] to release robot.")
00028 KNI.allMotorsOff()
00029
00030 stackname = "test"
00031
00032 raw_input("Press [ENTER] to store first point (p2p movement).")
00033 m = TMovement()
00034 KNI.getPosition(m.pos)
00035 m.transition = KNI.PTP
00036 m.velocity = 50
00037 m.acceleration = 2
00038 KNI.pushMovementToStack(m, stackname)
00039
00040 raw_input("Press [ENTER] to store second point (linear movement).")
00041 m = TMovement()
00042 KNI.getPosition(m.pos)
00043 m.transition = KNI.LINEAR
00044 m.velocity = 50
00045 m.acceleration = 2
00046 KNI.pushMovementToStack(m, stackname)
00047
00048 raw_input("Press [ENTER] to store third point (linear movement).")
00049 m = TMovement()
00050 KNI.getPosition(m.pos)
00051 m.transition = KNI.LINEAR
00052 m.velocity = 50
00053 m.acceleration = 2
00054 KNI.pushMovementToStack(m, stackname)
00055
00056 raw_input("Press [ENTER] to store fourth point (p2p movement).")
00057 m = TMovement()
00058 KNI.getPosition(m.pos)
00059 m.transition = KNI.PTP
00060 m.velocity = 50
00061 m.acceleration = 2
00062 KNI.pushMovementToStack(m, stackname)
00063
00064 raw_input("Press [ENTER] to store fifth and last point (p2p movement).")
00065 m = TMovement()
00066 KNI.getPosition(m.pos)
00067 m.transition = KNI.PTP
00068 m.velocity = 50
00069 m.acceleration = 2
00070 KNI.pushMovementToStack(m, stackname)
00071
00072 raw_input("Press [ENTER] to fix robot.")
00073 KNI.allMotorsOn()
00074
00075 raw_input("Press [ENTER] to loop through the point list robot.")
00076 repetitions = int(raw_input("How many repetitions? "))
00077 KNI.runThroughMovementStack(stackname, repetitions)
00078
00079 KNI.executeMovement(home)
00080
00081 KNI.allMotorsOff()
00082
00083