Drive robot arm in Fusion – update

Actually, modifying the Alignment Angle wasn’t the best thing to do in my previous article. I should have played with the RevoluteJointMotion.rotationValue instead. That’s what the “Drive Joints” command is modifying as well. And this way the Joint Limits will be honoured too :)

I also improved things a bit so that now you can select the two Revolute Joints that you want to drive using the command:

#Author-
#Description-
import adsk.core, adsk.fusion, adsk.cam, traceback
# Global variable used to maintain a reference to all event handlers.
handlers = []
# Other global variables
commandName = "MoveRobot"
app = adsk.core.Application.get()
if app:
ui = app.userInterface
revoluteJoint1 = None
revoluteJoint2 = None
isReverseUpDown = False
isReverseLeftRight = False
revolutionStep = 0.1
# Event handler for the keyDown event.
class MyKeyDownHandler(adsk.core.KeyboardEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
try:
eventArgs = adsk.core.KeyboardEventArgs.cast(args)
keyCode = eventArgs.keyCode
if keyCode == adsk.core.KeyCodes.UpKeyCode:
if isReverseUpDown:
diffVal = -revolutionStep
else:
diffVal = revolutionStep
motion = revoluteJoint1.jointMotion
motion.rotationValue = motion.rotationValue + diffVal
elif keyCode == adsk.core.KeyCodes.DownKeyCode:
if isReverseUpDown:
diffVal = revolutionStep
else:
diffVal = -revolutionStep
motion = revoluteJoint1.jointMotion
motion.rotationValue = motion.rotationValue + diffVal
elif keyCode == adsk.core.KeyCodes.LeftKeyCode:
if isReverseLeftRight:
diffVal = -revolutionStep
else:
diffVal = revolutionStep
motion = revoluteJoint2.jointMotion
motion.rotationValue = motion.rotationValue + diffVal
elif keyCode == adsk.core.KeyCodes.RightKeyCode:
if isReverseLeftRight:
diffVal = revolutionStep
else:
diffVal = -revolutionStep
motion = revoluteJoint2.jointMotion
motion.rotationValue = motion.rotationValue + diffVal
# Refresh the view to show the change
vp = app.activeViewport
vp.refresh()
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))
# Event handler for the inputChanged event.
class MyInputChangedHandler(adsk.core.InputChangedEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
eventArgs = adsk.core.InputChangedEventArgs.cast(args)
commandInput = eventArgs.input
if commandInput.id == commandName + '_step':
global revolutionStep
revolutionStep = commandInput.value
elif commandInput.id == commandName + '_reverseUpDown':
global isReverseUpDown
isReverseUpDown = commandInput.value
elif commandInput.id == commandName + '_reverseLeftRight':
global isReverseLeftRight
isReverseLeftRight = commandInput.value
# Event handler for the executePreview event.
class MyExecutePreviewHandler(adsk.core.CommandEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
eventArgs = adsk.core.CommandEventArgs.cast(args)
# Make it accept the changes whatever happens
eventArgs.isValidResult = True
class MyCommandCreatedHandler(adsk.core.CommandCreatedEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
try:
command = adsk.core.Command.cast(args.command)
# Subscribe to the various command events
onInputChanged = MyInputChangedHandler()
command.inputChanged.add(onInputChanged)
handlers.append(onInputChanged)
onExecutePreview = MyExecutePreviewHandler()
command.executePreview.add(onExecutePreview)
handlers.append(onExecutePreview)
onKeyDown = MyKeyDownHandler()
command.keyDown.add(onKeyDown)
handlers.append(onKeyDown)
onDestroy = MyCommandDestroyHandler()
command.destroy.add(onDestroy)
handlers.append(onDestroy)
inputs = command.commandInputs
inputs.addTextBoxCommandInput(
commandName + '_usage',
'Usage:',
'Use the arrow buttons to drive the robot arm', 2,
True);
inputs.addValueInput(
commandName + '_step',
'Rotation step: ',
'deg',
adsk.core.ValueInput.createByReal(revolutionStep))
inputs.addBoolValueInput(
commandName + '_reverseUpDown',
'Reverse Up/Down direction',
True,
'',
isReverseUpDown)
inputs.addBoolValueInput(
commandName + '_reverseLeftRight',
'Reverse Left/Right direction',
True,
'',
isReverseLeftRight)
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))
class MyCommandDestroyHandler(adsk.core.CommandEventHandler):
def __init__(self):
super().__init__()
def notify(self, args):
try:
commandDefinitions = ui.commandDefinitions
# Check the command exists or not
cmdDef = commandDefinitions.itemById(commandName)
if cmdDef:
cmdDef.deleteMe
# When the command is done, terminate the script
# this will release all globals which will remove all event handlers
adsk.terminate()
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))
def run(context):
try:
product = app.activeProduct
design = adsk.fusion.Design.cast(product)
if not design:
ui.messageBox('It is not supported in current workspace, please change to MODEL workspace and try again.')
return
# Get selected Revolute Joints to work on
selections = app.userInterface.activeSelections
if selections.count != 2:
ui.messageBox("The 2 revolute joints you want to control need to be selected before running the command!")
return
global revoluteJoint1, revoluteJoint2
revoluteJoint1 = selections.item(0).entity
revoluteJoint2 = selections.item(1).entity
commandDefinitions = ui.commandDefinitions
# Check the command exists or not
cmdDef = commandDefinitions.itemById(commandName)
if not cmdDef:
cmdDef = commandDefinitions.addButtonDefinition(
commandName, commandName, commandName, '')
# Subscribe to events
onCommandCreated = MyCommandCreatedHandler()
cmdDef.commandCreated.add(onCommandCreated)
# Keep the handler referenced beyond this function
handlers.append(onCommandCreated)
# Run the command
inputs = adsk.core.NamedValues.create()
cmdDef.execute(inputs)
# Prevent this module from being terminated when the script returns,
# because we are waiting for event handlers to fire
adsk.autoTerminate(False)
except:
ui.messageBox('Failed:n{}'.format(traceback.format_exc()))

-Adam