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arm.py
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arm.py
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import rospy
from std_msgs.msg import String
from sensor_msgs.msg import Joy
import time
import maestro
servo = maestro.Controller()
servo.setRange(0,0,9000) # Base
servo.setRange(1,0,9000) # Ext 1
servo.setRange(2,0,9000) # Joint 1 (elbow)
servo.setRange(3,0,9000) # Ext 2
servo.setRange(4,0,9000) # Joint 2 (wrist)
servo.setRange(5,0,9000) # Gripper
servo.setAccel(0,4)
servo.setAccel(1,4)
servo.setAccel(2,4)
servo.setAccel(3,4)
servo.setAccel(4,4)
servo.setAccel(5,4)
def callback(data):
buttons = data.buttons;
axes = data.axes
move(buttons, axes)
def move(buttons, axes):
if buttons[7]==1 and axes[7]==1: #Start + up
pickup()
elif buttons[7]==1 and axes[7]==-1: #Start + down
expand()
elif buttons[6]==1: #Back
free()
elif buttons[0]==1 and axes[6]==1: #A + left
move_arm(0,-1,axes[5])
elif buttons[0]==1 and axes[6]==-1: #A + right
move_arm(0,1,axes[5])
elif buttons[0]==1 and axes[7]==1: #A + up
move_arm(1,1,axes[5])
elif buttons[0]==1 and axes[7]==-1: #A + down
move_arm(1,-1,axes[5])
elif buttons[1]==1 and axes[7]==1: #B + up
move_arm(2,-1,axes[5])
elif buttons[1]==1 and axes[7]==-1: #B + down
move_arm(2,1,axes[5])
elif buttons[3]==1 and axes[7]==1: #Y + up
move_arm(3,1,axes[5])
elif buttons[3]==1 and axes[7]==-1: #Y + down
move_arm(3,-1,axes[5])
elif buttons[1]==1 and axes[6]==1: #B + left
move_arm(4,-1,axes[5])
elif buttons[1]==1 and axes[6]==-1: #B + right
move_arm(4,1,axes[5])
elif buttons[3]==1 and axes[6]==1: #Y + left
move_arm(5,1,axes[5])
elif buttons[3]==1 and axes[6]==-1: #Y + right
move_arm(5,-1,axes[5])
def move_arm(ch,dir,val):
G=(-val+1.0)/(2.0)*1000.0
if ch==0:
U = servo.getPosition(ch) + (dir*G)
if U>8000:
U=8000
elif U<2000:
U=2000
elif U<4500:
print "Base left" + "\t" + str(U)
arm_state = "Base left" + "\t" + str(U)
elif U>4500:
print "Base right" + "\t" + str(U)
arm_state = "Base right" + "\t" + str(U)
servo.setTarget(ch,int(U))
elif ch==1:
U = servo.getPosition(ch)+dir*G
if U>9000:
U=9000
elif U<6000:
U=6000
elif U<7000:
print "Extension 1 IN" + "\t" + str(U)
arm_state = "Extension 1 IN" + "\t" + str(U)
elif U>7000:
print "Extension 1 OUT" + "\t" + str(U)
arm_state = "Extension 1 OUT" + "\t" + str(U)
servo.setTarget(ch,int(U))
elif ch==2:
U = servo.getPosition(ch)+dir*G
if U>5000:
U=5000
elif U<1000:
U=1000
elif U<2600:
print "Elbow up" + "\t" + str(U)
arm_state = "Elbow up" + "\t" + str(U)
elif U>2600:
print "Elbow down" + "\t" + str(U)
arm_state = "Elbow down" + "\t" + str(U)
servo.setTarget(ch,int(U))
elif ch==3:
U = servo.getPosition(ch)+dir*G
if U>5000:
U=5000
elif U<2000:
U=2000
elif U<3500:
print "Extension 2 IN" + "\t" + str(U)
arm_state = "Extension 2 IN" + "\t" + str(U)
elif U>3500:
print "Extension 2 OUT" + "\t" + str(U)
arm_state = "Extension 2 OUT" + "\t" + str(U)
servo.setTarget(ch,int(U))
elif ch==4:
U = servo.getPosition(ch)+dir*G
if U>9000:
U=9000
elif U<1000:
U=1000
elif dir==-1:
print "Wrist left" + "\t" + str(U)
arm_state = "Wrist left" + "\t" + str(U)
elif dir==1:
print "Wrist right" + "\t" + str(U)
arm_state = "Wrist right" + "\t" + str(U)
servo.setTarget(ch,int(U))
elif ch==5:
U = servo.getPosition(ch)+dir*G
if U>9000:
U=9000
elif U<4300:
U=4300
elif dir==-1:
print "Closing gripper" + "\t" + str(U)
arm_state = "Closing gripper" + "\t" + str(U)
elif dir==1:
print "Opening gripper" + "\t" + str(U)
arm_state = "Opening gripper" + "\t" + str(U)
servo.setTarget(ch,int(U))
def expand():
print "... Deploying ..."
arm_state = "... Deploying ..."
servo.setTarget(0,2000)
time.sleep(3)
servo.setTarget(0,0)
print "Base OK"
arm_state = "Base OK"
servo.setTarget(1,9000)
time.sleep(8)
servo.setTarget(1,0)
print "Extension 1 OK"
arm_state = "Extension 1 OK"
for joint2 in range(8500,9000,50):
servo.setTarget(4,joint2)
time.sleep(0.02)
servo.setTarget(4,0)
print "Wrist OK"
arm_state = "Wrist OK"
for gripper in range(4300,9000,50):
servo.setTarget(5,gripper)
time.sleep(0.02)
servo.setTarget(5,0)
print "Gripper OK"
arm_state = "Gripper OK"
for joint1 in range(5000,7000,50):
servo.setTarget(2,joint1)
time.sleep(0.03)
servo.setTarget(2,0)
print "Elbow OK"
servo.setTarget(3,5000)
time.sleep(6)
servo.setTarget(3,0)
print "Extension 2 OK"
arm_state = "Extension 2 OK"
free()
time.sleep(1)
print "Extended arm OK"
arm_state = "Extended arm OK"
def pickup():
print "... Picking up ..."
arm_state = "... Picking up ..."
for gripper in range(8000,4300,-50):
servo.setTarget(5,gripper)
time.sleep(0.02)
print "Gripper OK"
arm_state = "Gripper OK"
servo.setTarget(3,2000)
time.sleep(6)
servo.setTarget(3,0)
print "Extension 2 OK"
arm_state = "Extension 2 OK"
for joint2 in range(8000,4500,-50):
servo.setTarget(4,joint2)
time.sleep(0.02)
servo.setTarget(4,0)
print "Wrist OK"
arm_state = "Wrist OK"
for joint1 in range(2000,1000,-20):
servo.setTarget(2,joint1)
time.sleep(0.1)
servo.setTarget(2,0)
servo.setTarget(5,4000)
print "Elbow OK"
arm_state = "Elbow OK"
servo.setTarget(1,4000)
time.sleep(9)
servo.setTarget(1,0)
print "Extension 1 OK"
arm_state = "Extension 1 OK"
servo.setTarget(0,7000)
time.sleep(3)
servo.setTarget(0,0)
print "Base OK"
arm_state = "Base OK"
free()
time.sleep(1)
print "Picked up OK"
arm_state = "Picked up OK"
def free():
print "free"
arm_state = "free"
servo.setTarget(0,0)
servo.setTarget(1,0)
servo.setTarget(2,0)
servo.setTarget(3,0)
servo.setTarget(4,0)
servo.setTarget(5,0)
def ARM():
arm_pub = rospy.Publisher('arm_pose', String, queue_size=10)
rospy.init_node('arm_node', anonymous=True)
#arm_pub.publish("Arm state:"+arm_state)
rospy.Subscriber("/joy", Joy, callback)
rospy.spin()
if __name__ == '__main__':
try:
ARM()
except rospy.ROSInterruptException:
pass