kni_demo.py
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1 ############################################################################################
2 # Katana450 KNI Python Interface Demo
3 # Copyright (C) 2008 Neuronics AG
4 # PKE/JHA, 2008
5 ############################################################################################
6 """
7 This Skript demonstrates the use of the KNI library through the Python wrapper
8 For API doc, read the kni_wrapper doc or the kni_wrapper.h file.
9 """
10 #############################################################################################
11 import sys
12 sys.path.append("../")
13 import KNI
14 from KNI import TMovement
15 #############################################################################################
16 
17 import KNI
18 KNI.initKatana("../../configfiles450/katana6M90T.cfg", "192.168.1.1")
20 
21 home = TMovement()
22 KNI.getPosition(home.pos)
23 home.transition = KNI.PTP
24 home.velocity = 50
25 home.acceleration = 2
26 
27 raw_input("Press [ENTER] to release robot.")
29 
30 stackname = "test"
31 
32 raw_input("Press [ENTER] to store first point (p2p movement).")
33 m = TMovement()
34 KNI.getPosition(m.pos)
35 m.transition = KNI.PTP
36 m.velocity = 50
37 m.acceleration = 2
38 KNI.pushMovementToStack(m, stackname)
39 
40 raw_input("Press [ENTER] to store second point (linear movement).")
41 m = TMovement()
42 KNI.getPosition(m.pos)
43 m.transition = KNI.LINEAR
44 m.velocity = 50
45 m.acceleration = 2
46 KNI.pushMovementToStack(m, stackname)
47 
48 raw_input("Press [ENTER] to store third point (linear movement).")
49 m = TMovement()
50 KNI.getPosition(m.pos)
51 m.transition = KNI.LINEAR
52 m.velocity = 50
53 m.acceleration = 2
54 KNI.pushMovementToStack(m, stackname)
55 
56 raw_input("Press [ENTER] to store fourth point (p2p movement).")
57 m = TMovement()
58 KNI.getPosition(m.pos)
59 m.transition = KNI.PTP
60 m.velocity = 50
61 m.acceleration = 2
62 KNI.pushMovementToStack(m, stackname)
63 
64 raw_input("Press [ENTER] to store fifth and last point (p2p movement).")
65 m = TMovement()
66 KNI.getPosition(m.pos)
67 m.transition = KNI.PTP
68 m.velocity = 50
69 m.acceleration = 2
70 KNI.pushMovementToStack(m, stackname)
71 
72 raw_input("Press [ENTER] to fix robot.")
74 
75 raw_input("Press [ENTER] to loop through the point list robot.")
76 repetitions = int(raw_input("How many repetitions? "))
77 KNI.runThroughMovementStack(stackname, repetitions)
78 
80 
82 
83 #############################################################################################
getPosition
Definition: KNI.py:152
allMotorsOn
Definition: KNI.py:142
pushMovementToStack
Definition: KNI.py:166
initKatana
Definition: KNI.py:154
calibrate
Definition: KNI.py:143
runThroughMovementStack
Definition: KNI.py:167
executeMovement
Definition: KNI.py:149
allMotorsOff
Definition: KNI.py:141


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:16