Hello all:
I am using a Raspberry PI 3 in attempts to control my Owi Robotic Arm via
USB with Python scripting. I am intermittently getting a "Operation timed
out" error which halts the code. 75% of the time the program runs from
start to finish with no problems. Any ideas on how I can mitigate this?
Is there a way to increase the timeout threshold? Many thanks in advance.
*Error:*
Traceback (most recent call last):
File "arm2.py", line 59, in <module>
MoveArm("ShoulderUp",4.2)
File "arm2.py", line 47, in MoveArm
RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,3)
File "build/bdist.linux-armv7l/egg/usb/core.py", line 711, in
ctrl_transfer
File "build/bdist.linux-armv7l/egg/usb/backend/libusb1.py", line 836, in
ctrl_transfer
File "build/bdist.linux-armv7l/egg/usb/backend/libusb1.py", line 571, in
_check
usb.core.USBError: [Errno 110] Operation timed out
*From my Python script:*
import usb.core, usb.util, time, sys
RoboArm = usb.core.find(idVendor=0x1267, idProduct=0x000)
if RoboArm is None:
raise ValueError("Arm not found")
Duration=1
def MoveArm(ArmCmd,Duration):
if ArmCmd == "Base+":
print "M5-%s : Rotate base clockwise" % Duration
ArmCmd=[0,1,0]
elif ArmCmd == "Base-":
print "M5+%s : Rotate base counter clockwise" % Duration
ArmCmd=[0,2,0]
elif ArmCmd == "ShoulderDown":
print "M4-%s : Shoulder down" % Duration
ArmCmd=[64,0,0]
elif ArmCmd == "ShoulderUp":
print "M4+%s : Shoulder up" % Duration
ArmCmd=[128,0,0]
elif ArmCmd == "ElbowDown":
print "M3-%s : Elbow down" % Duration
ArmCmd=[16,0,0]
elif ArmCmd == "ElbowUp":
print "M3+%s : Elbow up" % Duration
ArmCmd=[32,0,0]
elif ArmCmd == "WristDown":
print "M2-%s : Wrist down" % Duration
ArmCmd=[4,0,0]
elif ArmCmd == "WristUp":
print "M2+%s : Wrist up" % Duration
ArmCmd=[8,0,0]
elif ArmCmd == "GripClose":
print "M1-%s : Grip close" % Duration
ArmCmd=[2,0,0]
elif ArmCmd == "GripOpen":
print "M1+%s : Grip open" % Duration
ArmCmd=[1,0,0]
elif ArmCmd == "LightOff":
print "L1-%s : Light off" % Duration
ArmCmd=[0,0,1]
elif ArmCmd == "LightOn":
print "L1+%s : Light on" % Duration
ArmCmd=[0,0,0]
else:
print "Unknown command"
sys.exit()
RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,3)
time.sleep(Duration)
ArmCmd=[0,0,0]
RoboArm.ctrl_transfer(0x40,6,0x100,0,ArmCmd,3)
#MoveArm("ShoulderUp",.1)
#sys.exit()
MoveArm("Base+",7.7)
MoveArm("ShoulderDown",4)
MoveArm("ElbowDown",1)
MoveArm("ElbowUp",1)
MoveArm("ShoulderUp",4.2)
MoveArm("Base-",8.4)
sys.exit()
Eddie A Goble
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