机械臂

from lager import Net, NetType

# For exception handling
from lager import InvalidNetError
from lager.automation.arm import (
    MovementTimeoutError,
    NotHomedError,
    OutOfBoundsError,
    UnsupportedFirmwareError,
)

from lager import Net, NetType

# Get the arm net
arm = Net.get('arm1', type=NetType.Arm)

x, y, z = arm.position()
print(f"Position: X={x}, Y={y}, Z={z}")

# Move to specific position
arm.move_to(100, 200, 50)

# Move with longer timeout
arm.move_to(100, 200, 50, timeout=10.0)

# Move 10mm in X direction
new_x, new_y, new_z = arm.move_relative(dx=10)

# Move diagonally
new_x, new_y, new_z = arm.move_relative(dx=10, dy=10, dz=-5)

arm.go_home()

arm.enable_motor()

arm.disable_motor()

arm.save_position()

x, y, z, e, a, b, c = arm.get_full_position()
print(f"Cartesian: ({x}, {y}, {z})")
print(f"Joint angles: A={a}, B={b}, C={c}")

arm.soft_gripper_pick()     # Activate gripper to pick
arm.soft_gripper_place()    # Release gripper to place
arm.soft_gripper_neutral()  # Return to neutral state
arm.soft_gripper_stop()     # Stop gripper action

arm.air_picker_pick()       # Activate vacuum to pick
arm.air_picker_place()      # Release vacuum to place
arm.air_picker_neutral()    # Return to neutral state
arm.air_picker_stop()       # Stop vacuum action

arm.laser_on(value=0)      # Turn laser on with power level
arm.laser_off()            # Turn laser off

arm.conveyor_belt_forward(speed=0)    # Move belt forward (speed 0-100)
arm.conveyor_belt_backward(speed=0)   # Move belt backward (speed 0-100)
arm.conveyor_belt_stop()              # Stop belt

arm.sliding_rail_init()  # Initialize the sliding rail

arm.delay_ms(500)  # 500ms delay
arm.delay_s(2)     # 2 second delay

arm.set_acceleration(100, 100, 60)

# 0=PEN, 1=LASER, 2=PNEUMATIC, 3=3D
arm.set_module_type(0)  # Set to PEN module

module = arm.get_module_type()
print(f"Module: {module}")  # 'PEN', 'LASER', 'PUMP', or '3D'

from lager import Net, NetType

# Get the arm net
arm = Net.get('arm1', type=NetType.Arm)

# Go to home position
arm.go_home()

# Get current position
x, y, z = arm.position()
print(f"Home position: ({x}, {y}, {z})")

# Move to test position
arm.move_to(100, 250, 0)

# Move up
arm.move_relative(dz=50)

# Return home
arm.go_home()

from lager import Net, NetType

# Get the arm net
arm = Net.get('arm1', type=NetType.Arm)

arm.go_home()

# Move to pick position
arm.move_to(100, 200, 50)     # Above target
arm.move_relative(dz=-30)     # Lower to pick height

# Pick up object
arm.soft_gripper_pick()
arm.delay_ms(500)

# Lift
arm.move_relative(dz=30)

# Move to place position
arm.move_to(150, 200, 50)
arm.move_relative(dz=-30)

# Place object
arm.soft_gripper_place()
arm.delay_ms(500)

# Return home
arm.move_relative(dz=30)
arm.go_home()

from lager import Net, NetType

# Test positions for probe points
PROBE_POSITIONS = [
    (100, 200, -10),  # Test point 1
    (120, 200, -10),  # Test point 2
    (140, 200, -10),  # Test point 3
]

# Get arm and probe nets
arm = Net.get('arm1', type=NetType.Arm)
adc = Net.get('PROBE', type=NetType.ADC)

arm.go_home()

results = []
for i, (x, y, z) in enumerate(PROBE_POSITIONS):
    # Move above position
    arm.move_to(x, y, z + 20)

    # Lower probe
    arm.move_to(x, y, z)
    arm.delay_ms(200)  # Settle time

    # Take measurement
    voltage = adc.input()
    results.append((i, voltage))
    print(f"Point {i}: {voltage}V")

    # Lift
    arm.move_relative(dz=20)

arm.go_home()

from lager import Net, NetType
from lager import InvalidNetError
from lager.automation.arm import (
    MovementTimeoutError,
    NotHomedError,
    OutOfBoundsError,
    UnsupportedFirmwareError,
)

try:
    arm = Net.get('arm1', type=NetType.Arm)
    arm.move_to(100, 200, 50, timeout=3.0)
except InvalidNetError as e:
    print(f"Arm net not found: {e}")
except UnsupportedFirmwareError as e:
    print(f"Update the arm firmware: {e}")
except NotHomedError as e:
    print(f"Home the arm first: {e}")
except OutOfBoundsError as e:
    print(f"Target is outside the workspace: {e}")
except MovementTimeoutError as e:
    print(f"Arm did not reach the target: {e}")
except RuntimeError as e:
    print(f"Arm error: {e}")