test1.py

# test 
print("Mon nouveau fichier") ; 

##
# Arm Driver : send a set of commands to the robot 
#
# This code shows how the Arm Controller API is used 
#
# @author el hachemi Alikacem
#
##

from armController.ArmController import ArmController 
from armController.ScanRobot  import ScanRobot 
from armController.CartesianPosition import CartesianPosition 
from armController.TwistValues import TwistValues 
from armController.JointSpeedValues import JointSpeedValues

from armController.GripperLowlevelControl import GripperLowlevelControl
from armController.NotificationHandler import NotificationHandler, ACTION_NOTIF, ARM_STATE_NOTIF , CONFIG_CHANGE_NOTIF
from armController.ActionSequence import ActionSequence 
from armController.JointAnglesValues import JointAnglesValues
from armController.ArmAction import Move2HomePositionAction, Move2PredefinedPositionAction, Move2CartesianPositionAction,\
    JointTwistAction, Move2PositionAnglesAction, JointSpeedAction

import time ; 

# WHAT IS FOR ... 
# TO REMOVE 
#def sequence_sexamples(armController) : 
#    #armControlle
#    pass 

## -----------------------------------------------------------------------
#  
## -----------------------------------------------------------------------
def main() : 
    # First operation : Creation of the ArmController Instance - creation of the connection and a start a session
    armController = ArmController() 
    
    # Section Notifications ------------------------------------------------- Start 
    # Notifications 
    # Initiates the notification Handling 
    #notif_handler = NotificationHandler(armController.get_base_client()) 

    # Subsribe to All (the thirteen) notification types 
    # notif_handler.subscribeAll() 

    # Or : subsribe for a given set of Notification types - See NotificationHandler.py for the defined notification types
    #notif_handler.subscribe_list([ACTION_NOTIF, ARM_STATE_NOTIF , CONFIG_CHANGE_NOTIF ]) 
    # ========================================================================= End

 

    # Device scanning --------------------------------------------------------- START 
    #scanRobot = ScanRobot(armController) 
    #scanRobot.scan_devices() 
    # ========================================================================= End


    # Move to Home Position --------------------------------------------------- START 
    home_position = Move2HomePositionAction() 
    #armController.perform(home_position)
    # ========================================================================= End

    # Move to cartesian position ----------------------------------------------- START 
    #cart_position = CartesianPosition(0.5 , 0. , 0.)
    #cart_position = CartesianPosition(0.1 , 0. , 0.0)
    cart_position = CartesianPosition(0.3 , 0.0 , 0.6 , 90 , 0 , 90 )

    cart_pos_action = Move2CartesianPositionAction(cart_position)
    armController.perform(cart_pos_action)

    # -- Finalisation du code  ----------------------------
    # Unsubscribe for all notification   
    #notif_handler.unsubscribe() 

    # Ends the sessions and deconnection of the client
    armController.disconnect() 


## --------------------------------------------------------------
if __name__ == "__main__":
    exit(main())