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committed
RobotAtFactoryLite2022
1 parent 8b838a8 commit 90afa72

90 files changed

Lines changed: 5912 additions & 178 deletions

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‎Editor.lfm‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
object FEditor: TFEditor
2-
Left = 1136
2+
Left = 1129
33
Height = 522
44
Top = 433
55
Width = 775
@@ -17,7 +17,7 @@ object FEditor: TFEditor
1717
OnShow = FormShow
1818
PopupMenu = PopupMenuOutput
1919
SessionProperties = 'Height;Left;SynEditST.Font;Top;Width;PageControlBottom.ActivePage'
20-
LCLVersion = '2.0.12.0'
20+
LCLVersion = '2.1.0.0'
2121
object PageControl: TPageControl
2222
Left = 0
2323
Height = 472
@@ -603,9 +603,9 @@ object FEditor: TFEditor
603603
Height = 108
604604
Top = 338
605605
Width = 765
606-
ActivePage = TabErrors
606+
ActivePage = TabOutput
607607
Align = alBottom
608-
TabIndex = 1
608+
TabIndex = 0
609609
TabOrder = 1
610610
TabPosition = tpBottom
611611
object TabOutput: TTabSheet
@@ -853,6 +853,7 @@ object FEditor: TFEditor
853853
DirectiveAttri.Foreground = clNavy
854854
CompilerMode = pcmDelphi
855855
NestedComments = False
856+
TypeHelpers = True
856857
Left = 192
857858
Top = 36
858859
end

‎Editor.pas‎

Lines changed: 4 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -153,7 +153,6 @@ TFEditor = class(TForm)
153153
FuncList, InsertList: TStringList;
154154
TypeList: TStringList;
155155

156-
procedure writeLn(S: string);
157156
procedure BuildRegFuncList(Sender: TPSScript);
158157
function ReadUDPData: string;
159158
procedure WriteUDPData(ToIP: string; ToPort: integer; s: string);
@@ -181,6 +180,7 @@ TFEditor = class(TForm)
181180

182181
function ReadComPort: string;
183182
procedure WriteComPort(s: string);
183+
procedure writeLn(S: string);
184184
end;
185185

186186
type
@@ -299,11 +299,13 @@ procedure TFEditor.LBErrorsDblClick(Sender: TObject);
299299

300300
procedure TFEditor.writeLn(S: string);
301301
begin
302-
while LBResult.Items.Count > 1000 do begin
302+
LBResult.Items.BeginUpdate;
303+
while LBResult.Items.Count > 100 do begin
303304
LBResult.Items.Delete(0);
304305
end;
305306
LBResult.Items.Add(S);
306307
LBResult.ItemIndex := LBResult.Items.Count-1;
308+
LBResult.Items.EndUpdate;
307309
end;
308310

309311

‎Manipulator6DoF/Arm6d.xml‎

Lines changed: 51 additions & 31 deletions
Original file line numberDiff line numberDiff line change
@@ -4,7 +4,7 @@
44

55
<defines>
66
<const name='eps' value='0.0001' />
7-
<const name='B1_height' value='0.5' />
7+
<const name='B1_height' value='0.2' />
88
<const name='B2_length' value='0.4' />
99
<const name='B2_height' value='0.1' />
1010
<const name='B3_length' value='0.3' />
@@ -19,7 +19,7 @@
1919

2020
<const name='claw_width' value='0.01' />
2121
<const name='claw_length' value='0.08' />
22-
<const name='claw_gap' value='0.054' />
22+
<const name='claw_gap' value='0.1' />
2323
</defines>
2424

2525
<solids>
@@ -28,7 +28,7 @@
2828
<ID value='B1'/>
2929
<mass value='1'/>
3030
<size radius='0.05' z='B1_height'/>
31-
<pos x='0' y='0' z='B1_height/2'/>
31+
<pos x='0' y='0' z='-B1_height/2'/>
3232
<rot_deg x='0' y='0' z='0'/>
3333
<color_rgb r='128' g='128' b='128'/>
3434
</cylinder>
@@ -37,7 +37,7 @@
3737
<ID value='B2'/>
3838
<mass value='1'/>
3939
<size x='B2_length' y='B2_height/2' z='B2_height'/>
40-
<pos x='B2_length/2' y='B3_height' z='B1_height+B2_height/2'/>
40+
<pos x='B2_length/2' y='B3_height' z='-B1_height+B2_height/2'/>
4141
<rot_deg x='0' y='0' z='0'/>
4242
<color_rgb r='32' g='32' b='32'/>
4343
</cuboid>
@@ -46,35 +46,35 @@
4646
<ID value='B3'/>
4747
<mass value='1'/>
4848
<size x='B3_length' y='B3_height' z='B3_height'/>
49-
<pos x='B2_length+B3_length/2' y='0' z='B1_height+B2_height/2'/>
49+
<pos x='B2_length+B3_length/2' y='0' z='-B1_height+B2_height/2'/>
5050
<rot_deg x='0' y='0' z='0'/>
5151
<color_rgb r='64' g='64' b='64'/>
5252
</cuboid>
5353

5454
<cuboid>
5555
<ID value='B4'/>
5656
<size x='B4_length' y='B4_height' z='B4_height'/>
57-
<mass value='1'/>
58-
<pos x='B2_length+B3_length+B4_length/2' y='0' z='B1_height+B2_height/2'/>
57+
<mass value='0.5'/>
58+
<pos x='B2_length+B3_length+B4_length/2' y='0' z='-B1_height+B2_height/2'/>
5959
<color_rgb r='200' g='200' b='200'/>
6060
<drag stokes='1e-2' roll='1e-1'/>
6161
</cuboid>
6262

6363
<sphere>
6464
<ID value='B5'/>
65-
<mass value='1'/>
65+
<mass value='0.5'/>
6666
<radius value='B5_length/2'/>
67-
<pos x='B2_length+B3_length+B4_length+B5_length/2' y='0' z='B1_height+B2_height/2'/>
67+
<pos x='B2_length+B3_length+B4_length+B5_length/2' y='0' z='-B1_height+B2_height/2'/>
6868
<rot_deg x='0' y='0' z='0'/>
6969
<color_rgb r='128' g='0' b='0'/>
7070
<drag stokes='1e-2' roll='1e-1'/>
7171
</sphere>
7272

7373
<cuboid>
7474
<ID value='B6'/>
75-
<mass value='1'/>
75+
<mass value='0.2'/>
7676
<size x='B6_length' y='B6_height' z='B6_height'/>
77-
<pos x='B2_length+B3_length+B4_length+B5_length+B6_length/2' y='0' z='B1_height+B2_height/2'/>
77+
<pos x='B2_length+B3_length+B4_length+B5_length+B6_length/2' y='0' z='-B1_height+B2_height/2'/>
7878
<rot_deg x='0' y='0' z='0'/>
7979
<color_rgb r='0' g='64' b='64'/>
8080
<drag stokes='1e-2' roll='1e-1'/>
@@ -120,14 +120,14 @@
120120
<color_rgb r='64' g='64' b='64'/>
121121
</cylinder>
122122

123-
<cuboid>
123+
<cylinder>
124124
<ID value='B6_claw_base'/>
125125
<solid id='B6'/>
126-
<size x='claw_width' y='0.06' z='B6_height'/>
126+
<size x='claw_gap/2 + claw_width' z='B6_height'/>
127127
<pos x='B6_length/2 + claw_width/2' y='0' z='0'/>
128-
<rot_deg x='0' y='0' z='0'/>
128+
<rot_deg x='0' y='90' z='0'/>
129129
<color_rgb r='128' g='128' b='128'/>
130-
</cuboid>
130+
</cylinder>
131131

132132
<cuboid>
133133
<ID value='B6_claw_finger_left'/>
@@ -139,11 +139,21 @@
139139
</cuboid>
140140

141141
<cuboid>
142-
<ID value='B6_claw_finger_right'/>
142+
<ID value='B6_claw_finger_240'/>
143143
<solid id='B6'/>
144144
<size x='claw_length' y='claw_width' z='B6_height'/>
145-
<pos x='B6_length/2 + claw_length/2' y='claw_gap/2 + claw_width/2' z='0'/>
146-
<rot_deg x='0' y='0' z='0'/>
145+
<pos x='B6_length/2 + claw_length/2' y='(-claw_gap/2 - claw_width/2) * -1/2' z='(-claw_gap/2 - claw_width/2) * -sqrt(3)/2'/>
146+
<rot_deg x='240' y='0' z='0'/>
147+
<color_rgb r='128' g='128' b='128'/>
148+
</cuboid>
149+
150+
151+
<cuboid>
152+
<ID value='B6_claw_finger_120'/>
153+
<solid id='B6'/>
154+
<size x='claw_length' y='claw_width' z='B6_height'/>
155+
<pos x='B6_length/2 + claw_length/2' y='(-claw_gap/2 - claw_width/2) * -1/2' z='(-claw_gap/2 - claw_width/2) * sqrt(3)/2'/>
156+
<rot_deg x='120' y='0' z='0'/>
147157
<color_rgb r='128' g='128' b='128'/>
148158
</cuboid>
149159

@@ -152,20 +162,18 @@
152162
<articulations>
153163
<default>
154164
<draw radius='0.015' height='0.25' rgb24='8F0000'/>
155-
<ndraw radius='0.005' height='0.3' rgb24='8F0000'/>
156-
<motor ri='1.5' li='0.001' ki='0.3' vmax='24' imax='10' active='1'/>
157-
<rotor J='1e-2' bv='1e-3' fc='0'/>
158-
<gear ratio='200' be='1e-1' ke='800'/>
159-
<friction bv='0.02' fc='0.01'/>
165+
<motor ri='0.05' ki='0.3' vmax='24' imax='400' active='1'/>
166+
<gear ratio='1'/>
167+
<friction bv='0.05' fc='0.1'/>
160168
<encoder ppr='1000' mean='0' stdev='0'/>
161-
<controller mode='pidposition' kp='100' ki='0.1' kd='50' kf='0.0' active='1' period='10'/>
169+
<controller mode='pidposition' kp='20' ki='200' kd='0.0' kf='0.0' active='1' period='10'/>
162170
<spring k='0' zeropos='0'/>
163171
</default>
164172

165173

166174
<joint>
167175
<ID value='J1'/>
168-
<pos x='0' y='0' z='B1_height'/>
176+
<pos x='0' y='0' z='-B1_height'/>
169177
<axis x='0' y='0' z='1' wrap='1'/>
170178
<connect B1='B1' B2='world'/>
171179
<!--<limits Min='-360' Max='360'/> -->
@@ -176,17 +184,16 @@
176184

177185
<joint>
178186
<ID value='J2'/>
179-
<pos x='0' y='0' z='B1_height+B2_height/2'/>
187+
<pos x='0' y='0' z='-B1_height+B2_height/2'/>
180188
<axis x='0' y='1' z='0'/>
181189
<connect B1='B2' B2='B1'/>
182190
<!--<type value='Slider'/>-->
183191
<type value='Hinge'/>
184-
<controller mode='pidposition' kp='100' ki='0.1' kd='50' kf='0.0' active='1' period='10'/>
185192
</joint>
186193

187194
<joint>
188195
<ID value='J3'/>
189-
<pos x='B2_length' y='0' z='B1_height+B2_height/2'/>
196+
<pos x='B2_length' y='0' z='-B1_height+B2_height/2'/>
190197
<axis x='0' y='1' z='0'/>
191198
<connect B1='B3' B2='B2'/>
192199
<!--<type value='Slider'/>-->
@@ -195,15 +202,15 @@
195202

196203
<joint>
197204
<ID value='J4'/>
198-
<pos x='B2_length+B3_length+B4_length/2' y='0' z='B1_height+B2_height/2'/>
205+
<pos x='B2_length+B3_length+B4_length/2' y='0' z='-B1_height+B2_height/2'/>
199206
<axis x='1' y='0' z='0'/>
200207
<connect B1='B4' B2='B3'/>
201208
<type value='Hinge'/>
202209
</joint>
203210

204211
<joint>
205212
<ID value='J5'/>
206-
<pos x='B2_length+B3_length+B4_length+B5_length/2' y='0' z='B1_height+B2_height/2'/>
213+
<pos x='B2_length+B3_length+B4_length+B5_length/2' y='0' z='-B1_height+B2_height/2'/>
207214
<axis x='0' y='0' z='1'/>
208215
<connect B1='B5' B2='B4'/>
209216
<type value='Hinge'/>
@@ -212,13 +219,26 @@
212219

213220
<joint>
214221
<ID value='J6'/>
215-
<pos x='B2_length+B3_length+B4_length+B5_length+B6_length/2' y='0' z='B1_height+B2_height/2'/>
222+
<pos x='B2_length+B3_length+B4_length+B5_length+B6_length/2' y='0' z='-B1_height+B2_height/2'/>
216223
<axis x='1' y='0' z='0'/>
217224
<connect B1='B6' B2='B5'/>
218225
<type value='Hinge'/>
219226
</joint>
220227

221228
</articulations>
222229

230+
<tools>
231+
<solenoid>
232+
<ID value='grab'/>
233+
<beam length='0.15' initial_width='0.011' final_width='0.011'/>
234+
<solid id='B6'/>
235+
<size x='claw_gap/2 + claw_width' z='B6_height'/>
236+
<rot_deg x='0' y='0' z='0'/>
237+
<tag value='00'/>
238+
<force fmax='10' k2='0.5'/>
239+
<color_rgb r='0' g='255' b='0'/>
240+
</solenoid>
241+
</tools>
242+
223243
</robot>
224244

‎Manipulator6DoF/Global.S2Sheet‎

Lines changed: 17 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -14,37 +14,37 @@
1414
</columns>
1515
<cells>
1616
<cell r="2" c="2" text="Pos (deg)" />
17-
<cell r="3" c="2" text="-0.00915" />
18-
<cell r="4" c="2" text="0.143" />
19-
<cell r="5" c="2" text="0.0594" />
20-
<cell r="6" c="2" text="-0.00368" />
21-
<cell r="7" c="2" text="-0.00549" />
22-
<cell r="8" c="2" text="-0.00204" />
17+
<cell r="3" c="2" text="-0.0409" />
18+
<cell r="4" c="2" text="-0.00204" />
19+
<cell r="5" c="2" text="0.0032" />
20+
<cell r="6" c="2" text="0.000492" />
21+
<cell r="7" c="2" text="0.00186" />
22+
<cell r="8" c="2" text="-0.00121" />
2323
<cell r="2" c="1" text="Joint" />
2424
<cell r="4" c="1" text="1" />
2525
<cell r="3" c="1" text="0" />
2626
<cell r="5" c="1" text="2" />
2727
<cell r="6" c="1" text="3" />
2828
<cell r="7" c="1" text="4" />
2929
<cell r="8" c="1" text="5" />
30-
<cell r="13" c="2" text="0.5476552" />
30+
<cell r="13" c="2" text="0.5500067" />
3131
<cell r="11" c="1" text="X:" />
3232
<cell r="12" c="1" text="Y:" />
3333
<cell r="13" c="1" text="Z:" />
34-
<cell r="11" c="2" text="0.7700094" />
35-
<cell r="12" c="2" text="-0.0001237265" />
34+
<cell r="11" c="2" text="0.7699999" />
35+
<cell r="12" c="2" text="-0.000548984" />
3636
<cell r="10" c="2" text="B5" />
3737
<cell r="15" c="2" text="B6" />
38-
<cell r="16" c="2" text="0.8050089" />
39-
<cell r="17" c="2" text="-0.0001292607" />
40-
<cell r="18" c="2" text="0.5475213" />
38+
<cell r="16" c="2" text="0.8049999" />
39+
<cell r="17" c="2" text="-0.0005727751" />
40+
<cell r="18" c="2" text="0.550006" />
4141
<cell r="16" c="4" text="1.000" />
42-
<cell r="16" c="5" text="0.000" />
43-
<cell r="16" c="6" text="0.004" />
44-
<cell r="17" c="4" text="0.000" />
42+
<cell r="16" c="5" text="0.001" />
43+
<cell r="16" c="6" text="0.000" />
44+
<cell r="17" c="4" text="-0.001" />
4545
<cell r="17" c="5" text="1.000" />
4646
<cell r="17" c="6" text="0.000" />
47-
<cell r="18" c="4" text="-0.004" />
47+
<cell r="18" c="4" text="0.000" />
4848
<cell r="18" c="5" text="0.000" />
4949
<cell r="18" c="6" text="1.000" />
5050
<cell r="21" c="2" text="30" />
@@ -58,7 +58,7 @@
5858
<cell r="30" c="2" text="0.5" />
5959
<cell r="15" c="4" text="B6 Rot" />
6060
<cell r="2" c="4" text="[Place]" />
61-
<cell r="3" c="4" text="0" />
61+
<cell r="3" c="4" text="0.1" />
6262
<cell r="3" c="7" text="idle" />
6363
<cell r="27" c="4" text="RotT" />
6464
<cell r="28" c="4" text="1" />

‎Manipulator6DoF/Zorder.txt‎

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,10 @@
11
FViewer
22
FChooseScene
33
FParams
4-
FSheets
4+
FSceneEdit
55
FEditor
66
FChart
7-
FSceneEdit
7+
FSheets
88

99

1010
FWayPointsEdit

‎Manipulator6DoF/config_Cameras.ini‎

Lines changed: 5 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,5 @@
1+
[Cameras]
2+
CBSendImage_Checked=0
3+
SBQuality_Position=1
4+
FCameras_Top=175
5+
FCameras_Left=1227

‎Manipulator6DoF/config_Chart.LogSeries.txt‎

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,2 @@
1+
Arm6D.Axes.J2.I.
2+
Arm6D.Axes.J2.U.

‎Manipulator6DoF/config_Chart.ini‎

Lines changed: 8 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,8 @@
1+
[FastChart]
2+
EditFileName_Text=Chartdata
3+
EditMaxPoints_Text=200
4+
FChart_Left=1106
5+
PageControl_TabIndex=0
6+
FChart_Top=542
7+
CBFreeze_Checked=0
8+
CBZeroCross_Checked=1

‎Manipulator6DoF/config_ChooseScene.ini‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,3 @@
1+
[Choose]
2+
FChooseScene_Top=188
3+
FChooseScene_Left=488

‎Manipulator6DoF/config_Editor.ini‎

Lines changed: 16 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
[Editor]
2+
FEditor_Height=864
3+
FEditor_Left=936
4+
SynEditST_FontCharSet=1
5+
SynEditST_FontColor=-2147483640
6+
SynEditST_FontHeight=-11
7+
SynEditST_FontName=Courier New
8+
SynEditST_FontOrientation=0
9+
SynEditST_FontPitch=fpFixed
10+
SynEditST_FontQuality=fqNonAntialiased
11+
SynEditST_FontSize=8
12+
SynEditST_FontStyle=[]
13+
FEditor_Top=92
14+
FEditor_Width=775
15+
PageControlBottom_ActivePage=TabErrors
16+
LastProjectName=control.pas

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