From 2b036a41f681573e5aa93dacef71b347ae20fe2d Mon Sep 17 00:00:00 2001 From: Dan Royer Date: Mon, 24 Jul 2023 10:06:44 -0700 Subject: [PATCH] remove deprecated tools --- .../systems/robot/robotarm/tools/DHTool.java | 49 --------- .../robotarm/tools/DHTool_GoProCamera.java | 40 ------- .../robot/robotarm/tools/DHTool_Gripper.java | 85 --------------- .../robotarm/tools/Sixi2ChuckGripper.java | 30 ------ .../robotarm/tools/Sixi2LinearGripper.java | 101 ------------------ 5 files changed, 305 deletions(-) delete mode 100644 src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool.java delete mode 100644 src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_GoProCamera.java delete mode 100644 src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_Gripper.java delete mode 100644 src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2ChuckGripper.java delete mode 100644 src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2LinearGripper.java diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool.java b/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool.java deleted file mode 100644 index 5eea6e135..000000000 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool.java +++ /dev/null @@ -1,49 +0,0 @@ -package com.marginallyclever.robotoverlord.systems.robot.robotarm.tools; - -import com.marginallyclever.convenience.memento.MementoOriginator; -import com.marginallyclever.robotoverlord.entity.Entity; - -/** - * DHTool has a DHLink equivalence. - * In this way it can perform transforms and have sub-links. - * @author Dan Royer - * - */ -@Deprecated -public abstract class DHTool extends Entity implements MementoOriginator { - /** - * - */ - private static final long serialVersionUID = -3140513593165370783L; - // tool tip convenience used in kinematics - protected Entity toolTipOffset = new Entity(); - - public DHTool() { - super(); - setName("DHTool"); - addEntity(toolTipOffset); - } - - public void set(DHTool b) { - super.set(b); - setName(b.getName()); - b.toolTipOffset.set(toolTipOffset); - } - - /** - * use the keyState to control the tool. - * @return true if the robot's pose has been affected. - */ - public boolean directDrive() { - return false; - } - - public String getCommand() { - return ""; - } - - public void sendCommand(String str) {} - - public void interpolate(double dt) {} - -} diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_GoProCamera.java b/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_GoProCamera.java deleted file mode 100644 index a23bfe5e8..000000000 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_GoProCamera.java +++ /dev/null @@ -1,40 +0,0 @@ -package com.marginallyclever.robotoverlord.systems.robot.robotarm.tools; - -import com.marginallyclever.robotoverlord.entity.Entity; - -/** - * @author Dan Royer - * - */ -@Deprecated -public class DHTool_GoProCamera extends Entity { - /** - * - */ - private static final long serialVersionUID = -2151214977287978928L; - - public DHTool_GoProCamera() { - super(); - setName("GoPro Camera");/* - flags = LinkAdjust.R; - - refreshDHMatrix(); - - setShapeFilename("/robots/Sixi2/gopro/gopro.stl"); - shapeEntity.setShapeScale(0.1f); - shapeEntity.setShapeOrigin(0, 0, 0.5); - shapeEntity.setShapeRotation(90, 90, 0); - - // adjust the shape's position and rotation. - this.setPosition(new Vector3d(50,0,50)); - Matrix3d m = new Matrix3d(); - m.setIdentity(); - m.rotX(Math.toRadians(90)); - Matrix3d m2 = new Matrix3d(); - m2.setIdentity(); - m2.rotZ(Math.toRadians(90)); - m.mul(m2); - this.setRotation(m); - */ - } -} diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_Gripper.java b/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_Gripper.java deleted file mode 100644 index 858c0c1dd..000000000 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/DHTool_Gripper.java +++ /dev/null @@ -1,85 +0,0 @@ -package com.marginallyclever.robotoverlord.systems.robot.robotarm.tools; - -import com.marginallyclever.robotoverlord.components.DHComponent; -import com.marginallyclever.robotoverlord.entity.Entity; - - -/** - * @author Dan Royer - */ -@Deprecated -public class DHTool_Gripper extends Entity { - /** - * - */ - private static final long serialVersionUID = 1544140469103301389L; - public static final double ANGLE_MAX=55; - public static final double ANGLE_MIN=10; - - protected DHComponent[] subComponents = new DHComponent[6]; - - protected double gripperServoAngle; - protected double interpolatePoseT; - protected double startT,endT; - - protected transient boolean wasGripping; - protected transient Entity subjectBeingHeld; - - public DHTool_Gripper() { - super();/* - setLetter("T"); - setName("Gripper"); - - gripperServoAngle=90; - interpolatePoseT=1; - startT=endT=gripperServoAngle; - - setShapeFilename("/robots/Sixi2/beerGripper/base.stl"); - shapeEntity.setShapeScale(0.1f); - shapeEntity.setShapeOrigin(-1,0,4.15); - shapeEntity.setShapeRotation(0,180,90); - - - Matrix3d r = new Matrix3d(); - r.setIdentity(); - r.rotX(Math.toRadians(180)); - Matrix3d r2 = new Matrix3d(); - r2.setIdentity(); - r2.rotZ(Math.toRadians(90)); - r.mul(r2); - this.setRotation(r); - - // 4 bars - addComponent(subComponents[0]=new DHComponent()); - addComponent(subComponents[1]=new DHComponent()); - addComponent(subComponents[2]=new DHComponent()); - addComponent(subComponents[3]=new DHComponent()); - subComponents[0].setShapeFilename("/robots/Sixi2/beerGripper/linkage.stl"); - subComponents[0].setShapeScale(0.1); - subComponents[1].set(subComponents[0]); - subComponents[2].set(subComponents[0]); - subComponents[3].set(subComponents[0]); - subComponents[0].setPosition(new Vector3d(2.7/2, 0, 4.1)); - subComponents[1].setPosition(new Vector3d(1.1/2, 0, 5.9575)); - subComponents[2].setPosition(new Vector3d(-2.7/2, 0, 4.1)); - subComponents[3].setPosition(new Vector3d(-1.1/2, 0, 5.9575)); - - // 2 finger tips - addComponent(subComponents[4]=new DHComponent()); - subComponents[4].setShapeFilename("/robots/Sixi2/beerGripper/finger.stl"); - subComponents[4].setShapeScale(0.1); - addComponent(subComponents[5]=new DHComponent()); - subComponents[5].set(subComponents[4]); - - wasGripping=false; - */ - } - - /** - * Read HID device to move target pose. Currently hard-coded to PS4 joystick values. - * @return true if targetPose changes. - */ - public boolean directDrive() { - return false; - } -} diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2ChuckGripper.java b/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2ChuckGripper.java deleted file mode 100644 index f278e97ac..000000000 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2ChuckGripper.java +++ /dev/null @@ -1,30 +0,0 @@ -package com.marginallyclever.robotoverlord.systems.robot.robotarm.tools; - -/** - * A chuck gripper for the Sixi2 robot arm. - */ -@Deprecated -public class Sixi2ChuckGripper extends Sixi2LinearGripper { - /** - * - */ - private static final long serialVersionUID = 5463215121829599553L; - - public Sixi2ChuckGripper() { - super(); - setName("Sixi2 Chuck Gripper"); - /* - setShapeFilename("/robots/Sixi2/chuckGripper/base.stl"); - shapeEntity.setShapeScale(0.1); - shapeEntity.setShapeOrigin(0, 0, 3.4); - leftFinger.setShapeFilename("/robots/Sixi2/chuckGripper/a.stl"); - leftFinger.setShapeScale(0.1); - leftFinger.setShapeOrigin(new Vector3d(0, 0, 3.4)); - rightFinger.setShapeFilename("/robots/Sixi2/chuckGripper/b.stl"); - rightFinger.setShapeScale(0.1); - rightFinger.setShapeOrigin(new Vector3d(0, 0, 3.4)); - toolTipOffset.setD(13.5); - - */ - } -} diff --git a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2LinearGripper.java b/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2LinearGripper.java deleted file mode 100644 index 874c53a6f..000000000 --- a/src/main/java/com/marginallyclever/robotoverlord/systems/robot/robotarm/tools/Sixi2LinearGripper.java +++ /dev/null @@ -1,101 +0,0 @@ -package com.marginallyclever.robotoverlord.systems.robot.robotarm.tools; - -import com.marginallyclever.convenience.memento.Memento; -import com.marginallyclever.convenience.memento.MementoDoubleArray; -import com.marginallyclever.robotoverlord.entity.Entity; -import com.marginallyclever.robotoverlord.parameters.IntParameter; -import com.marginallyclever.robotoverlord.parameters.swing.ViewPanelFactory; - - -/** - * @author Dan Royer - */ -@Deprecated -public class Sixi2LinearGripper extends Entity { - // A PhysicalObject, if any, being held by the tool. Assumes only one object can be held.\ - private transient Entity subjectBeingHeld; - - public IntParameter angleMax = new IntParameter("Max open",135); - public IntParameter angleMin = new IntParameter("Min closed",100); - public IntParameter angleNow = new IntParameter("Now",100); // 0...100% - - private double interpolatePoseT; - private double startT,endT; - public Entity leftFinger; - public Entity rightFinger; - - private transient boolean wasGripping; - - public Sixi2LinearGripper() { - super(); - } - /* - setLetter("T"); - setName("Sixi2 Linear Gripper"); - - interpolatePoseT=1; - startT=endT=angleNow.get(); - - setShapeFilename("/robots/Sixi2/linearGripper/gripperBase.obj"); - shapeEntity.getMaterial().setTextureFilename("/robots/Sixi2/sixi.png"); - shapeEntity.getMaterial().setDiffuseColor(1, 1, 1, 1); - shapeEntity.getMaterial().setAmbientColor(1, 1, 1, 1); - - // 2 finger tips - addEntity(leftFinger=new Entity()); - addEntity(rightFinger=new Entity()); - leftFinger.setName("Left finger"); - leftFinger.setShapeFilename("/robots/Sixi2/linearGripper/gripperLeft.obj"); - leftFinger.setTextureFilename("/robots/Sixi2/sixi.png"); - rightFinger.setName("Right finger"); - rightFinger.setShapeFilename("/robots/Sixi2/linearGripper/gripperRight.obj"); - rightFinger.setTextureFilename("/robots/Sixi2/sixi.png"); - - leftFinger.flags = Entity.LinkAdjust.R; - rightFinger.flags = Entity.LinkAdjust.R; - - addEntity(angleMax); - addEntity(angleMin); - addEntity(angleNow); - - wasGripping=false; - } - - @Override - public void update(double dt) { - double now = angleNow.get(); - double v = (100.0-now)/100.0; - double rangeMax = 2.65; - double rangeMin = 0.1; - double v2 = ( rangeMax-rangeMin ) * v + rangeMin; - leftFinger.setAdjustableValue(v2); - rightFinger.setAdjustableValue(-v2); - super.update(dt); - } - */ - - /** - * Read HID device to move target pose. Currently hard-coded to PS4 joystick values. - * @return true if targetPose changes. - */ - public boolean directDrive() { - return false; - } - - @Deprecated - public void getView(ViewPanelFactory view) { - view.addRange(angleNow, 100, 0); - view.addRange(angleMax, 180, 0); - view.addRange(angleMin, 180, 0); - } - - public Memento getState() { - MementoDoubleArray a = new MementoDoubleArray(1); - a.values[0] = angleNow.get(); - return null; - } - - public void setState(Memento arg0) { - angleNow.set((int)((MementoDoubleArray)arg0).values[0]); - } -}