Exemples : Le convoyeur
Ce document montre comment utiliser le convoyeur de Ned.
Si vous souhaitez en apprendre davantage à propos des fonctions du convoyeur, consultez la rubrique PyNiryo - Conveyor.
Danger
Si vous utilisez le robot, assurez vous que l’environnement autour de celui-ci est dégagé.
Contrôle simple du convoyeur
Ce court exemple montre comment connecter un convoyeur et démarrer son moteur (le contrôler en ajustant sa vitesse et sa 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)
Contrôle avancé du convoyeur
Cet exemple montre comment réaliser un certain nombre de Pick & Place en utilisant le convoyeur et son capteur infrarouge :
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)