Startup

script/test/TestRelays.py

@@ -0,0 +1,12 @@
+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)
+"""

script/test/TestRobotCmds.py

@@ -0,0 +1,32 @@
+
+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
+    

script/test/TestRobotCmds2.py

@@ -0,0 +1,25 @@
+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)
+

script/test/TestRobotTCP.py

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+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)

script/test/test.py

@@ -0,0 +1,24 @@
+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()