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control.py
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control.py
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#!/usr/bin/env python3
# Imports
from kinematics import Kinematics
from arduinoCommunication import ArduinoCommunication
from getVideoFeed import CameraInput, ShapeDetection
import cv2, atexit
# Robot geometry
geometry = [
#xyz
[0,0,109.4], # V0
[0,0,112.6], # V1
[57.7,0,0], # V2
[80.8,0,0], # V3
[73,0,0] # V4 is to the end of the gripper bracket
]
joint_limits = [
[-90, 190],
[-42, 110],
[-180, 2],
[-1, 180], #egentlig 0, men løser mange problemer
[-102, 102],
[-90, 240],
[90, 180] #close, open
]
# Create the kinematics model of the robot
kin_model = Kinematics(geometry, joint_limits)
arduino = ArduinoCommunication()
# Uncomment if you want to use move_to_mouse
camera_input = CameraInput(debug=True, configure=False) # Create a instance of the CameraInput class
#camera_input = CameraInput(debug=False, configure=False) # Create a instance of the CameraInput class
shape_detection = ShapeDetection(debug=False)
# Make the robot trigger the endstops before shutting down
atexit.register(arduino.send_TriggerEndstops)
class RobotArm(object):
def __init__ (self):
self.last_point = (None, None)
self.current_point = (None, None)
def pick_camera_object(self):
""" Picks up an object identified in the picture"""
# Quit if there no objects in the image and
# if the arduino is not ready for a new command
if (not shape_detection.detected_shapes_coords) or (not arduino.ready):
return False
# Get the coordinates of the first object in the image
xy = camera_input.image_to_coordinates(shape_detection.get_shape_coords(number_shape=0))
# Create the list of coordinates in 3D-space
# The robot first moves to center of the object
# 3 cm over the ground
coordinates = [xy[0], xy[1], 90, 0, 3.14, 0, 180]
print("Control: 3D coordinates ", coordinates)
# Move the arm to the coordinate, and only
# proceed if it did so successfully
if not self.move_to_coordinate(coordinates, 1000):
return False
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
coordinates[2] = 55
print("Control: 3D coordinates ", coordinates)
# Move the arm to the coordinate, and only
# proceed if it did so successfully
if not self.move_to_coordinate(coordinates, 1000):
return False
# Wait for the arduino to cbecome ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Close the gripper
arduino.send_MoveJoint(6, 120, 30)
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Move the arm up
arduino.send_MoveJoints([0, -20, -30, 0, 0, 0, 120], 1000)
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Open the gripper
arduino.send_MoveJoint(6, 180, 30)
return True
def move_to_coordinate(self, coordinates, speed):
""" Moves the endaffector to a given point
int space. This includes check that the coordinates
are valid and so on. The coordinates are
[x, y, z, a, b, c, gripper]"""
# Perform IK and check if the angles are valid
# We remove the last angle (the gripper angle)
# because this is not relevant for the IK model
angles_rad = kin_model.doInverseKin(coordinates[:-1])
# If no angles are returned do not perform the rest of the iteration
# The destination could be out of reach
if not angles_rad:
return False
# Convert the angles back to degrees (from rad)
# because that is the unit the arduino operates with
angles_deg = kin_model.convertRadToDeg(angles_rad)
# Check if the angles are compatible with the robot
# arms limitations
if not kin_model.validateRobotAnglesDeg(angles_deg):
return False
# The angles are valid. We add the gripper positon
# back into the list
angles_deg.append(coordinates[-1])
# Send the angles to the robot
arduino.send_MoveJoints(angles_deg, speed)
return True
def move_to_mouse(self, height, speed):
""" Moves the arm to the point clicked
on in the picture by the user"""
# Check if there are any points in the list
if not camera_input.mouse_track_coord:
return False
# Get the last point in the list
self.current_point = camera_input.mouse_track_coord[-1]
# Check wether the point has changed
# or not to take stress off the arduino
if self.current_point == self.last_point:
return False
# Update the previous point
self.last_point = self.current_point
# Get the point in robot arm coordinates
point = camera_input.image_to_coordinates(self.current_point)
coordinates = [point[0], point[1], height, 0, 3.14, 0, 100]
self.move_to_coordinate(coordinates, speed)
arduino.wait_for_ready(self.update_camera_feed)
return True
def pick_ball(self, speed):
""" Picks up a ball from the ramp and sends
it down again"""
# Move over the ball
if not self.move_to_coordinate([225, 115, 114, -2.89, 0.11, 1.2, 180], speed):
return False
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Lower down
if not self.move_to_coordinate([230, 115, 100, -2.89, 0.11, 1.2, 180], speed-300):
return False
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Close the gripper
arduino.send_MoveJoint(6, 138, 30)
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Dial in
if not self.move_to_coordinate([127, -132, 303, 1.5, 0.8, -1.58, 138], speed):
return False
# Wait for the arduino to cbecome ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Go over the rail
if not self.move_to_coordinate([100, -175, 230, 1.82, 0.89, -1.49, 138], speed):
return False
# Wait for the arduino to cbecome ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Open the gripper
arduino.send_MoveJoint(6, 180, 30)
# Wait for the arduino to become ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
# Go higher
if not self.move_to_coordinate([70, -175, 280, 1.82, 0.89, -1.6, 180], speed):
return False
# Wait for the arduino to cbecome ready
# for the next command
arduino.wait_for_ready(self.update_camera_feed)
def user_control(self):
""" Lets the user choose what function to run
based on input in the console """
# Only run if the arduino is ready for new commands
if not arduino.ready:
return
# Get the user input
input_string = str(input("Enter the funtion: "))
# Use the move_to_coordinate command
if input_string == "s":
arguments = str(input("Enter the six coordinates and grippper seperated by space: ")).split()
for i in range(len(arguments)):
arguments[i] = float(arguments[i])
if len(arguments) == 7:
self.move_to_coordinate(arguments, 700)
# Move to mouse
elif input_string == "m":
while True:
success = self.move_to_mouse(90, 800)
self.update_camera_feed()
if success:
break
# Camera detection
elif input_string == "c":
while True:
success = self.pick_camera_object()
self.update_camera_feed()
if success:
break
# Zero all joints
elif input_string == "z":
arduino.send_MoveJoints([0, 0, 0, 0, 0, 0, 180], 500)
# Ball
elif input_string == "b":
self.pick_ball(1000)
# Move a single joint
elif input_string == "j":
arguments = str(input("Enter the joint, angle and speed seperated by space: ")).split()
for i in range(len(arguments)):
arguments[i] = float(arguments[i])
if len(arguments) == 3:
arduino.send_MoveJoint(arguments[0], arguments[1], arguments[2])
def update_camera_feed(self):
""" Gets the next frame and perform
object detection on it """
camera_input.get_next_frame()
# Perfrom shape detection
shape_detection.detect_shapes(camera_input.deskewed_img_resized)
robot_arm = RobotArm()
while True:
robot_arm.update_camera_feed()
# Read the serial
arduino.read_serial()
# pick_camera_object()
# robot_arm.move_to_mouse(90, 1000)
robot_arm.user_control()