Examples: Conveyor Belt¶
This document shows how to use Ned’s Conveyor Belt.
If you want to see more about Ned’s Conveyor Belt functions, you can look at PyNiryo - Conveyor
If you are using the real robot, make sure the environment around it is clear.
Simple Conveyor control¶
This short example shows how to connect a conveyor and launch its motor (control it by setting its speed and direction):
from pyniryo import * # Connecting to robot robot = NiryoRobot(<robot_ip_address>) # Activating connexion with Conveyor Belt conveyor_id = robot.set_conveyor() # Running the Conveyor Belt at 50% of its maximum speed, in forward direction robot.run_conveyor(conveyor_id, speed=50, direction=ConveyorDirection.FORWARD) # Waiting 3 seconds robot.wait(3) # Stopping robot's motor robot.stop_conveyor(conveyor_id) # Deactivating connexion with the Conveyor Belt robot.unset_conveyor(conveyor_id)
Advanced Conveyor Belt control¶
This example shows how to do a certain amount of pick & place by using the Conveyor Belt with the infrared sensor:
from pyniryo import * # -- Setting variables sensor_pin_id = PinID.GPIO_1A catch_nb = 5 # The pick pose pick_pose = PoseObject( x=0.25, y=0., z=0.15, roll=-0., pitch=1.57, yaw=0.0, ) # The Place pose place_pose = PoseObject( x=0., y=-0.25, z=0.1, roll=0., pitch=1.57, yaw=-1.57) # -- MAIN PROGRAM # Connecting to the robot robot = NiryoRobot(<robot_ip_address>) # Activating connexion with the Conveyor Belt conveyor_id = robot.set_conveyor() for i in range(catch_nb): robot.run_conveyor(conveyor_id) while robot.digital_read(sensor_pin_id) == PinState.LOW: robot.wait(0.1) # Stopping robot's motor robot.stop_conveyor(conveyor_id) # Making a pick & place robot.pick_and_place(pick_pose, place_pose) # Deactivating connexion with the Conveyor Belt robot.unset_conveyor(conveyor_id)