Welcome to Group4_BMI’s documentation!

This is the code documentation

Indices and tables

This script implements the solution of a BoMI

class solution.Solution(MainApplication, parent, win)[source]

Provides the implementation of the code for the given tasks

check_mouse_stability()[source]

Checks if the mouse is within the bounds of a section for selection

click_real_mouse()[source]: Intializes the left click of the mouse First, checks mouse stability, Based off stability for a set amount of time, initiates left click function.

move_mobile_robot(r)[source]

Moves the kuka Mobile robot in the coppeliasim scene. With a delta time implementation of 2 seconds.

move_parallel_manipulator(r)[source]

Moves the parallel Manipulator robot in the coppeliasim scene with position control.

move_planar_manipulator(r)[source]

Moves the planar Manipulator robot in the coppeliasim scene with position control.

move_real_mouse(r)[source]

This function takes coordinates from the reaching class and moves the real mouse of the computer

select_device_clbk()[source]: Callback function for the device-selection button to choose between checkboxes. The callback launches the the coppeliasim scene for the chosen device.

set_point_boundary()[source]: Depending on the output of check_mouse_stability Set new bounding box

time_mouse_stability()[source]: Time interval that determines mouse stabilty

class solution.popupWindow(master, msg)[source]: class that defines the popup tkinter window

This script implements the position controller of the manipulator

class CoppeliaSim.scripts.manipulator_controller.ManipulatorController[source]

A class responsible for communicating with the manipulator on CoppeliaSim and controlling it

move_manipulator_tip(target)[source]: responsible for moving the manipulator’s tip to a given target position :param target: target position for the tip (x,y,z) :return:

This script implements the position controller of the kuka robot

class CoppeliaSim.scripts.kuka_controller.KukaMobileRobot[source]

A class responsible for communicating with the Kuka mobile robot and controlling it

get_required_velocity()[source]: Computes the required x and y velocities to be sent to the robot based on the distance to the target The velocities are multiplied by a gain SPEED

move_mobile_robot(x, y)[source]: responsible for moving the mobile robot given a target position x and y It gets the required x and y velocities for the robot using the function get_required_velocity() and sets the motor velocity values based on these velocities :param x: the target x position :param y: the target y position :return: