pshell_config/mxsc
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Closedown

Browse Source
This commit is contained in:
gac-S_Changer
2017-02-24 11:24:43 +01:00
parent af837ad0a6
commit 495aba08cb
5 changed files with 0 additions and 121 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
script/TestRelays.py
View File

@@ -1,12 +0,0 @@
for i in range(500):
relay1.write(True)
time.sleep(1.2)
relay1.write(False)
time.sleep(1.2)
"""
for i in range(5):
relays.write(to_array([True,]*16, 'z'))
time.sleep(0.2)
relays.write(to_array([False,]*16, 'z'))
time.sleep(0.2)
"""

32
script/TestRobotCmds.py
View File

@@ -1,32 +0,0 @@
import java.lang.System as System
index = 0
max_time = 0
while True:
start = System.currentTimeMillis()
robot.execute(1,1,1)
time.sleep(0.01)
robot.execute(2,1,1)
time.sleep(0.01)
robot.execute(1,1,1)
time.sleep(0.01)
robot.execute(2,1,1)
time.sleep(0.01)
robot.execute(1,1,1)
time.sleep(0.01)
robot.execute(2,1,1)
time.sleep(0.01)
robot.execute(1,1,1)
time.sleep(0.01)
robot.execute(2,1,1)
time.sleep(0.01)
robot.execute(1,1,1)
time.sleep(0.01)
robot.execute(2,1,1)
time.sleep(0.01)
cur_time = System.currentTimeMillis() - start
max_time = max(cur_time, max_time)
print index, cur_time, max_time
index = index + 1

25
script/TestRobotCmds2.py
View File

@@ -1,25 +0,0 @@
if robot_req.read() != 0:
raise Exception("Ongoing command")
if robot_ack.read() != 0:
raise Exception("Robot is not ready")
robot_cmd.write(1)
args = [0,0,0,0,0,0]
robot_args.write(to_array(args, 'i'))
robot_req.write(1)
while robot_ack.read() == 0:
time.sleep(0.001)
err = robot_ack.take()
if err == 1:
ret = robot_ret.read()
print ret
if err == 2:
print ("Invalid command: " + str(command))
print ("Unknown error: " + str(err))
robot_req.write(0)
while robot_ack.read() != 0:
time.sleep(0.001)

28
script/TestRobotTCP.py
View File

@@ -1,28 +0,0 @@
print robot_tcp.is_powered()
print robot_tcp.get_monitor_speed()
#print robot_tcp.set_monitor_speed(20)
print robot_tcp.enable()
print robot_tcp.disable()
print robot_tcp.is_calibrated()
print robot_tcp.read_working_mode()
print robot_tcp.get_emergency_stop_sts()
print robot_tcp.get_safety_fault_signal()
print robot_tcp.stop()
print robot_tcp.resume()
print robot_tcp.resetMotion()
print robot_tcp.is_empty()
print robot_tcp.is_settled()
print robot_tcp.get_move_id()
print robot_tcp.set_move_id(10)
print robot_tcp.get_joint_forces()
#print robot_tcp.open("gripper")
#print robot_tcp.close("gripper")
print robot_tcp.herej()
print robot_tcp.distance_t("t", "t")
print robot_tcp.distance_p("p", "p")
print robot_tcp.compose( "p", "world", "t")
print robot_tcp.here("gripper", "world")
print robot_tcp.joint_to_point("gripper", "world", "j")
print robot_tcp.point_to_joint("gripper", "j", "p")
print robot_tcp.position("p", "world")
print robot_tcp.mount(1, 2)

24
script/test.py
View File

@@ -1,24 +0,0 @@
from ijutils import *
import java.awt.Color as Color
#ip = load_array(img.getData().getMatrix())
ip = load_image(img.getOutput())
#ip = load_image("{images}/test3.png", title="Image")
aux = grayscale(ip, in_place=False)
aux.show()
#convolve(aux, KERNEL_SOBEL); aux.repaintWindow()
invert(aux); aux.repaintWindow()
subtract_background(aux); aux.repaintWindow()
auto_threshold(aux); aux.repaintWindow()
binary_open(aux); aux.repaintWindow()
(table, image) = analyse_particles(aux, 250,1000,
fill_holes = False, exclude_edges = True,print_table=True,
output_image = "outlines", minCirc = 0.82, maxCirc = 1.0)
image.show()