Co-authored-by: Abhishek Shrestha <[email protected]>

Co-authored-by: Oxygonix <[email protected]>

Author: EthanMunoz03

computer_vision/README.md

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+import sys
+import os
+import numpy as np
+
+sys.path.append(os.path.join(os.path.dirname(__file__), '..'))
+
+from xarm.wrapper import XArmAPI
+
+ARM: XArmAPI = XArmAPI('192.168.1.166')
+
+ARM.motion_enable(enable=True)
+ARM.set_mode(0)
+ARM.set_state(0)
+ARM.connect()
+
+# Home Coordinates
+x = 287
+y = -194
+z = 329
+
+# Go to arms home
+def goHome():
+    ARM.set_position(x, y, z, speed=65, wait=True)
+
+# Move y over after each letter
+def addY():
+    global y
+    y = y + 100
+
+# Write the letter E and go back home
+def writeE():
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y, z + 75, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z + 75, speed=65, wait=True)
+    ARM.set_position(x, y, z + 75, speed=65, wait=True)
+    ARM.set_position(x, y, z, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z, speed=65, wait=True)
+    
+    # update y
+    addY()
+    
+    # go back to home
+    goHome()
+
+# Write the letter T and go back home
+def writeT():
+    global y
+    y = y + 32.5
+    
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y - 75, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+
+    # update y
+    addY()
+
+    # go back to home
+    goHome()
+
+# Write the letter H and go back home
+def writeH():
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y, z + 75, speed=75, wait=True)
+    ARM.set_position(x, y + 75, z + 75, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z, speed=65, wait=True)
+
+    # update y
+    addY()
+
+    # go back to home
+    goHome()
+
+# Write the letter A and go back home
+def writeA():
+    ARM.set_position(x, y + 32.5, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z, speed=65, wait=True)
+    ARM.set_position(x, y + 53.75, z + 75, speed=65, wait=True)
+    ARM.set_position(x, y + 16.25, z + 75, speed=65, wait=True)
+
+    # update y
+    addY()
+
+    # go back to home
+    goHome()
+
+# Write the letter N and go back home
+def writeN():
+    ARM.set_position(x, y, z + 150, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z, speed=65, wait=True)
+    ARM.set_position(x, y + 75, z + 150, speed=65, wait=True)
+
+    # update y
+    addY()
+
+    # go back to home
+    goHome()
+
+# Function to generate waypoints for a circular arc
+def generate_arc(center, radius, start_angle, end_angle, num_points):
+    angles = np.linspace(start_angle, end_angle, num_points)
+    waypoints = []
+    for angle in angles:
+        x = center[0] + radius * np.cos(angle)
+        y = center[1] + radius * np.sin(angle)
+        waypoints.append((x, y, center[2]))  # Keep z constant for 2D circular arc
+    return waypoints
+
+def move_in_arc(center, radius, start_angle, end_angle, num_points):
+    waypoints = generate_arc(center, radius, start_angle, end_angle, num_points)
+    for x, y, z in waypoints:
+        ARM.set_position(x, y, z, speed=65, wait=True)
+
+# Example usage
+center = (x, y)  # Center of the arc in the XY plane
+radius = 50      # Radius of the arc
+start_angle = 0  # Starting angle in radians
+end_angle = np.pi / 2  # End angle in radians (90 degrees)
+num_points = 20  # Number of waypoints
+
+move_in_arc(center, radius, start_angle, end_angle, num_points)
+
+
+
+def write_eight():
+    ARM.set_position(x, y, z, speed=65, wait=True)
+
+
+# Go to arms home
+goHome()
+
+# Write out 'ETHAN'
+# writeE()
+# writeT()
+# writeH()
+# writeA()
+# writeN()
+
+
+# Write out '8'
+write_eight()
+
+
+# Go back to original home
+y = -194
+goHome()
+
+ARM.motion_enable(enable=False)
+ARM.reset(wait=True)
+ARM.disconnect()