diff --git a/mycobot_ai/myPalletizer_260/res/blue/goal3.jpeg b/mycobot_ai/myPalletizer_260/res/blue/goal3.jpeg new file mode 100644 index 0000000..7af2ae1 Binary files /dev/null and b/mycobot_ai/myPalletizer_260/res/blue/goal3.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/res/gray/goal3.jpeg b/mycobot_ai/myPalletizer_260/res/gray/goal3.jpeg new file mode 100644 index 0000000..1d3ddcb Binary files /dev/null and b/mycobot_ai/myPalletizer_260/res/gray/goal3.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/res/green/goal5.jpeg b/mycobot_ai/myPalletizer_260/res/green/goal5.jpeg new file mode 100644 index 0000000..b4e7578 Binary files /dev/null and b/mycobot_ai/myPalletizer_260/res/green/goal5.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/res/green/goal6.jpeg b/mycobot_ai/myPalletizer_260/res/green/goal6.jpeg new file mode 100644 index 0000000..fe5bff1 Binary files /dev/null and b/mycobot_ai/myPalletizer_260/res/green/goal6.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/res/red/goal2.jpeg b/mycobot_ai/myPalletizer_260/res/red/goal2.jpeg new file mode 100644 index 0000000..10787b9 Binary files /dev/null and b/mycobot_ai/myPalletizer_260/res/red/goal2.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/res/takephoto.jpeg b/mycobot_ai/myPalletizer_260/res/takephoto.jpeg index 2a29a1e..d1b2a72 100644 Binary files a/mycobot_ai/myPalletizer_260/res/takephoto.jpeg and b/mycobot_ai/myPalletizer_260/res/takephoto.jpeg differ diff --git a/mycobot_ai/myPalletizer_260/scripts/add_img.py b/mycobot_ai/myPalletizer_260/scripts/add_img.py index 4d38ec6..6ff25b9 100755 --- a/mycobot_ai/myPalletizer_260/scripts/add_img.py +++ b/mycobot_ai/myPalletizer_260/scripts/add_img.py @@ -49,19 +49,19 @@ def take_photo(): def cut_photo(): - path_red = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/red' + path_red = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/red' for i, j, k in os.walk(path_red): file_len_red = len(k) - path_gray = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/gray' + path_gray = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/gray' for i, j, k in os.walk(path_gray): file_len_gray = len(k) - path_green = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/green' + path_green = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/green' for i, j, k in os.walk(path_green): file_len_green = len(k) - path_blue = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/blue' + path_blue = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/blue' for i, j, k in os.walk(path_blue): file_len_blue = len(k) print("请截取要识别的部分") @@ -95,19 +95,19 @@ def cut_photo(): cv2.imshow('crop', crop) # 选择红桶文件夹 if kw == 'red': - cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/red/goal{}.jpeg'.format(str(file_len_red + 1)),crop) + cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/red/goal{}.jpeg'.format(str(file_len_red + 1)),crop) print('Saved') # 选择灰桶文件夹 elif kw == 'gray': - cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/gray/goal{}.jpeg'.format(str(file_len_gray+1)),crop) + cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/gray/goal{}.jpeg'.format(str(file_len_gray+1)),crop) print('Saved') # 选择绿桶文件夹 elif kw == 'green': - cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/green/goal{}.jpeg'.format(str(file_len_green+1)),crop) + cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/green/goal{}.jpeg'.format(str(file_len_green+1)),crop) print('Saved') # 选择蓝桶文件夹 elif kw == 'blue': - cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/res/blue/goal{}.jpeg'.format(str(file_len_blue+1)),crop) + cv2.imwrite('/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/myPalletizer_260/res/blue/goal{}.jpeg'.format(str(file_len_blue+1)),crop) print('Saved') # 退出 diff --git a/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py b/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py index 34cfa96..5b05fa4 100755 --- a/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py +++ b/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py @@ -148,9 +148,9 @@ class Object_detect(Movement): time.sleep(3) # send coordinates to move mypal260 - self.mc.send_coords([x, y, 160, -82.17], 20, 0) + self.mc.send_coords([x, y, 160, 0], 20, 0) # -82.17 time.sleep(1.5) - self.mc.send_coords([x, y, 90, -82.17], 20, 0) + self.mc.send_coords([x, y, 90, 0], 20, 0) time.sleep(1.5) # open pump @@ -162,28 +162,13 @@ class Object_detect(Movement): self.mc.send_angle(2, 0, 20) time.sleep(0.3) - self.mc.send_angle(3, -5, 20) + self.mc.send_angle(3, -15, 20) time.sleep(2) - # self.pub_angles(self.move_angles[2], 20) - # time.sleep(3) - # self.pub_marker( - # self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0) - - # self.pub_angles(self.move_angles[1], 20) - # time.sleep(1.5) - # self.pub_marker( - # self.move_coords[3][0]/1000.0, self.move_coords[3][1]/1000.0, self.move_coords[3][2]/1000.0) - - # self.pub_angles(self.move_angles[0], 20) - # time.sleep(2) - # 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, 0) + self.mc.send_coords(self.move_coords[color], 20, 1) 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) + time.sleep(4.5) # close pump if self.raspi: @@ -201,7 +186,7 @@ class Object_detect(Movement): # self.pub_angles(self.move_angles[0], 20) self.mc.send_angles(self.move_angles[1], 20) - time.sleep(3) + time.sleep(1.5) # decide whether grab cube def decide_move(self, x, y, color): diff --git a/mycobot_ai/myPalletizer_260/scripts/detect_obj_img_folder_opt.py b/mycobot_ai/myPalletizer_260/scripts/detect_obj_img_folder_opt.py index 1ceddd8..4507857 100644 --- a/mycobot_ai/myPalletizer_260/scripts/detect_obj_img_folder_opt.py +++ b/mycobot_ai/myPalletizer_260/scripts/detect_obj_img_folder_opt.py @@ -158,7 +158,7 @@ class Object_detect(Movement): self.mc.send_coords([x, y, 160, -82.17], 20, 2) time.sleep(2.5) # self.pub_coords([x, y, 90, -178.9, -1.57, -66], 25, 1) - self.mc.send_coords([x, y, 99, -82.17], 20, 1) + self.mc.send_coords([x, y, 90, -82.17], 20, 1) time.sleep(1.5) # open pump @@ -169,23 +169,6 @@ class Object_detect(Movement): time.sleep(0.3) self.mc.send_angle(3, -18, 20) time.sleep(2) - # self.pub_angles(self.move_angles[2], 20) - # time.sleep(3) - # self.pub_marker(self.move_coords[2][0] / 1000.0, - # self.move_coords[2][1] / 1000.0, - # self.move_coords[2][2] / 1000.0) - - # self.pub_angles(self.move_angles[1], 20) - # time.sleep(1.5) - # self.pub_marker(self.move_coords[3][0] / 1000.0, - # self.move_coords[3][1] / 1000.0, - # self.move_coords[3][2] / 1000.0) - - # self.pub_angles(self.move_angles[0], 20) - # time.sleep(1.5) - # self.pub_marker(self.move_coords[4][0] / 1000.0, - # self.move_coords[4][1] / 1000.0, - # self.move_coords[4][2] / 1000.0) print(self.move_coords[color]) # self.pub_coords(self.move_coords[color], 20, 1) @@ -199,9 +182,7 @@ class Object_detect(Movement): # close pump self.gpio_status(False) time.sleep(4) - # self.pub_marker(self.move_coords[color][0] / 1000.0 + 0.04, - # self.move_coords[color][1] / 1000.0 - 0.02) - # self.pub_angles(self.move_angles[0], 20) + self.mc.send_angles(self.move_angles[1], 20) time.sleep(3) @@ -220,10 +201,6 @@ class Object_detect(Movement): # init mycobot def run(self): - # for _ in range(5): - # self.pub_angles([-26.11, -6.94, -55.01, -24.16, 0, -15], 20) - # print(_) - # time.sleep(0.5) self.mc = MyPalletizer("/dev/ttyAMA0",1000000) # ok if not self.raspi: self.pub_pump(False, self.Pin) diff --git a/mycobot_ai/myPalletizer_260/scripts/test.py b/mycobot_ai/myPalletizer_260/scripts/test.py index 09aa1e5..376a498 100755 --- a/mycobot_ai/myPalletizer_260/scripts/test.py +++ b/mycobot_ai/myPalletizer_260/scripts/test.py @@ -100,8 +100,8 @@ mc = MyPalletizer("/dev/ttyAMA0", 1000000) # mc.send_angles([-47.1, 10.19, -10.1, -76.37],25) # above the red bucket; coords:[127.3, -137.1, 219.2, -29.26] # time.sleep(1.5) -# mc.send_angles([0,0,-15,0],25) -# time.sleep(2) +mc.send_angles([0,0,0,0],25) +time.sleep(2) # mc.send_coords([141.2, -142.0, 206.2, -26.8],25,1) # above the red bucket # time.sleep(2) @@ -116,12 +116,12 @@ 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() # mc.set_servo_calibration(1) # mc.set_servo_calibration(2) # mc.set_servo_calibration(3)