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“““?AR2?-?Stepper?motor?robot?control?software
????Copyright?（c）?2017?Chris?Annin
????All?rights?reserved.

????You?are?free?to?share?copy?and?redistribute?in?any?medium
????or?format.??You?are?free?to?remix?transform?and?build?upon
????this?material.

????Redistribution?and?use?in?source?and?binary?forms?with?or?without
????modification?are?permitted?provided?that?the?following?conditions?are?met:

????????*?Redistributions?of?source?code?must?retain?the?above?copyright
??????????notice?this?list?of?conditions?and?the?following?disclaimer.
????????*?Redistribution?of?this?software?in?source?or?binary?forms?shall?be?free
??????????of?all?charges?or?fees?to?the?recipient?of?this?software.
????????*?Redistributions?in?binary?form?must?reproduce?the?above?copyright
??????????notice?this?list?of?conditions?and?the?following?disclaimer?in?the
??????????documentation?and/or?other?materials?provided?with?the?distribution.
????????*?Neither?the?name?of?Chris?Annin?nor?the
??????????names?of?its?contributors?may?be?used?to?endorse?or?promote?products
??????????derived?from?this?software?without?specific?prior?written?permission.
????????*?you?must?give?appropriate?credit?and?indicate?if?changes?were?made.?You?may?do
??????????so?in?any?reasonable?manner?but?not?in?any?way?that?suggests?the
??????????licensor?endorses?you?or?your?use.

????THIS?SOFTWARE?IS?PROVIDED?BY?THE?COPYRIGHT?HOLDERS?AND?CONTRIBUTORS?“AS?IS“?AND
????ANY?EXPRESS?OR?IMPLIED?WARRANTIES?INCLUDING?BUT?NOT?LIMITED?TO?THE?IMPLIED
????WARRANTIES?OF?MERCHANTABILITY?AND?FITNESS?FOR?A?PARTICULAR?PURPOSE?ARE
????DISCLAIMED.?IN?NO?EVENT?SHALL?CHRIS?ANNIN?BE?LIABLE?FOR?ANY
????DIRECT?INDIRECT?INCIDENTAL?SPECIAL?EXEMPLARY?OR?CONSEQUENTIAL?DAMAGES
????（INCLUDING?BUT?NOT?LIMITED?TO?PROCUREMENT?OF?SUBSTITUTE?GOODS?OR?SERVICES;
????LOSS?OF?USE?DATA?OR?PROFITS;?OR?BUSINESS?INTERRUPTION）?HOWEVER?CAUSED?AND
????ON?ANY?THEORY?OF?LIABILITY?WHETHER?IN?CONTRACT?STRICT?LIABILITY?OR?TORT
????（INCLUDING?NEGLIGENCE?OR?OTHERWISE）?ARISING?IN?ANY?WAY?OUT?OF?THE?USE?OF?THIS
????SOFTWARE?EVEN?IF?ADVISED?OF?THE?POSSIBILITY?OF?SUCH?DAMAGE.

????chris.annin@gmail.com
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‘‘‘?VERSION?1.1?CHANGES
CHANGED?ALL?DELAYS?TO?0.05
ADDED?CALIBRATE?TO?MID?RANGE?FUNCTION
REMOVED?CALIBRATE?WRITE?FROM?CALIBRATE?ROUTINE?-?USES?SavePosData
CHANGED?E65?=?TO?J15
ajusted?axis?limits?for?DM542T
RE-WRITE?OF?MOVE?SYNC?ALGORITHM

‘‘‘
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from?Tkinter?import?*
import?pickle
import?serial
import?time
import?threading
import?Queue
import?math
import?ttk

root?=?Tk（）
root.wm_title（“AR2?software?1.1

?屬性????????????大小?????日期????時(shí)間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\
?????文件??????208250??2017-12-29?13:08??AR2-master機(jī)械臂\AR2?kinamatic?model.xlsm
?????文件????????3081??2018-10-04?22:45??AR2-master機(jī)械臂\AR2?License?-?Read?Me.txt
?????文件????23792464??2018-10-04?22:43??AR2-master機(jī)械臂\AR2-master（備份）.zip
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\AR2軟件exe文件\
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\
?????文件??????202240??2017-09-22?14:25??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\AR2.exe
?????文件?????????748??2018-11-23?18:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\AR2.exe.log
?????文件???????68394??2017-04-30?12:30??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\AR2.ico
?????文件?????????782??2018-11-23?18:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\ARbot.cal
?????文件???????72192??2015-12-05?20:33??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\bz2.pyd
?????文件??????159636??2017-09-22?14:11??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\Defaut?Calibration?Settings?AR2?（with?3?precision?series?motors?&?DM542T?drives）.jpg
?????文件??????148433??2017-09-22?14:12??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\Defaut?Calibration?Settings?AR2?（with?economy?series?motors?&?ST-6600?drives）.jpg
?????文件?????????176??2017-09-25?22:01??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\home
?????文件??????????56??2017-09-25?22:05??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\new
?????文件????????2960??2016-06-29?20:51??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\play-icon.gif
?????文件?????2627584??2015-12-05?20:33??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\python27.dll
?????文件?????????154??2017-09-25?22:02??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\rest
?????文件???????11264??2015-12-05?20:33??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\select.pyd
?????文件?????1525573??2017-09-22?14:25??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\shared.lib
?????文件????????2067??2016-07-23?11:31??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\stop-icon.gif
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\
?????文件??????893952??2015-07-19?04:41??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl85.dll
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\
?????文件???????20622??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\auto.tcl
?????文件??????130266??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\clock.tcl
?????目錄???????????0??2019-01-21?15:19??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\encoding\
?????文件????????1090??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\encoding\ascii.enc
?????文件???????92873??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\encoding\big5.enc
?????文件????????1091??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\encoding\cp1250.enc
?????文件????????1091??2014-04-22?19:06??AR2-master機(jī)械臂\AR2軟件exe文件\AR2?software?exe?files\tcl\tcl8.5\encoding\cp1251.enc
............此處省略1176個(gè)文件信息