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fix bug

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This commit is contained in:
wuchangji 2022-06-28 16:14:02 +08:00
parent f8335430d4
commit 021fad8d5d
3 changed files with 12 additions and 15 deletions
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2
mycobot_ai/myPalletizer_260/launch/vision.launch
View file

@ -13,7 +13,7 @@
<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
</node>
<!-- mycobot-topics -->
<!-- mypalletizer-topics -->
<include file="$(find mypalletizer_communication)/launch/communication_topic_pi.launch">
<arg name="port" value="$(arg port)" />
<arg name="baud" value="$(arg baud)" />

15
mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py
View file

@ -144,15 +144,13 @@ class Object_detect(Movement):
def move(self, x, y, color):
# send Angle to move mypal260
print(color)
# self.pub_angles(self.move_angles[0], 20)
self.mc.send_angles(self.move_angles[0], 20)
# print("move_angles\n")
time.sleep(3)
# send coordinates to move mypal260
self.mc.send_coords([x, y, 160, -82.17], 20, 2)
self.mc.send_coords([x, y, 160, -82.17], 20, 0)
time.sleep(1.5)
self.mc.send_coords([x, y, 99, -82.17], 20, 1)
self.mc.send_coords([x, y, 90, -82.17], 20, 0)
time.sleep(1.5)
# open pump
@ -160,11 +158,11 @@ class Object_detect(Movement):
self.gpio_status(True)
else:
self.pub_pump(True, self.Pin)
time.sleep(0.5)
time.sleep(1.5)
self.mc.send_angle(2, 0, 20)
time.sleep(0.3)
self.mc.send_angle(3, -18, 20)
self.mc.send_angle(3, -5, 20)
time.sleep(2)
# self.pub_angles(self.move_angles[2], 20)
@ -182,7 +180,7 @@ class Object_detect(Movement):
# self.pub_marker(
# self.move_coords[4][0]/1000.0, self.move_coords[4][1]/1000.0, self.move_coords[4][2]/1000.0)
self.mc.send_coords(self.move_coords[color], 20, 1)
self.mc.send_coords(self.move_coords[color], 20, 0)
self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color]
[1]/1000.0, self.move_coords[color][2]/1000.0)
time.sleep(3)
@ -228,7 +226,7 @@ class Object_detect(Movement):
# draw aruco
def draw_marker(self, img, x, y):
# draw rectangle on img
cv2.rectangle(
cv2.rectangle(
img,
(x - 20, y - 20),
(x + 20, y + 20),
@ -372,7 +370,6 @@ class Object_detect(Movement):
else:
return None
if __name__ == "__main__":
# open the camera

10
mycobot_ai/myPalletizer_260/scripts/test.py
View file

@ -116,11 +116,11 @@ mc = MyPalletizer("/dev/ttyAMA0", 1000000)
# print(mc.get_angles())
# print(mc.get_coords())
mc.release_all_servos()
while True:
print("angles:%s"%mc.get_angles())
print("coords:%s"%mc.get_coords())
print("\n")
# mc.release_all_servos()
# while True:
# print("angles:%s"%mc.get_angles())
# print("coords:%s"%mc.get_coords())
# print("\n")
# mc.set_servo_calibration(1)
# mc.set_servo_calibration(2)