mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
renew
This commit is contained in:
2929ss
parent
d91238995a
commit
2471418b77
3 changed files with 11 additions and 99 deletions
|
|
@ -31,7 +31,6 @@ class Object_detect(Movement):
|
|||
|
||||
# 移动角度
|
||||
self.move_angles = [
|
||||
# [-20.74, -5.53, -12.39, -76.81], # init the point
|
||||
[0, 0, 0, 0], # init the point
|
||||
[-29.0, 5.88, -4.92, -76.28], # point to grab
|
||||
[17.4, -10.1, -87.27, 5.8, -2.02, 15], # point to grab
|
||||
|
|
@ -184,7 +183,6 @@ class Object_detect(Movement):
|
|||
self.pub_marker(
|
||||
self.move_coords[color][0]/1000.0+0.03, self.move_coords[color][1]/1000.0)
|
||||
|
||||
# self.pub_angles(self.move_angles[0], 20)
|
||||
self.mc.send_angles(self.move_angles[1], 20)
|
||||
time.sleep(1.5)
|
||||
|
||||
|
|
@ -202,10 +200,13 @@ class Object_detect(Movement):
|
|||
|
||||
# init mypal260
|
||||
def run(self):
|
||||
self.mc = MyPalletizer("/dev/ttyAMA0",1000000) # ok
|
||||
if "dev" in self.robot_m5:
|
||||
self.mc = MyPalletizer(self.robot_m5,115200)
|
||||
if "dev" in self.robot_raspi:
|
||||
self.mc = MyPalletizer(self.robot_raspi,1000000)
|
||||
if not self.raspi:
|
||||
self.pub_pump(False, self.Pin)
|
||||
self.mc.send_angles([-29.0, 5.88, -4.92, -76.28], 20) # ok
|
||||
self.mc.send_angles([-29.0, 5.88, -4.92, -76.28], 20)
|
||||
time.sleep(3)
|
||||
|
||||
# draw aruco
|
||||
|
|
|
|||
|
|
@ -1,8 +1,6 @@
|
|||
# encoding:utf-8
|
||||
#!/usr/bin/env python2
|
||||
|
||||
from multiprocessing import Process, Pipe
|
||||
|
||||
from cgi import parse
|
||||
from difflib import restore
|
||||
# import queue
|
||||
|
|
|
|||
|
|
@ -1,107 +1,20 @@
|
|||
# -*- coding: utf-8 -*-
|
||||
|
||||
# from fileinput import filename
|
||||
# from genericpath import isfile
|
||||
# import os
|
||||
# from sys import path
|
||||
# import cv2
|
||||
# from PIL import Image
|
||||
|
||||
|
||||
# # #count=0
|
||||
# for file in dirs:
|
||||
# pic_dir=os.path.join(path,file) # res中子文件夹的路径
|
||||
# print(pic_dir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# imgdir=os.path.join(pic_dir,i)
|
||||
# print(imgdir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# image_dir=os.path.join(pic_dir,i) #res中每个子文件夹中图片的路径
|
||||
# img1 = cv2.imread(image_dir) # 读取res中每个子文件夹中的图片
|
||||
# #count+=1
|
||||
# print(image_dir)#输出图片的路径
|
||||
#print(img1)#输出图片
|
||||
#print(count)#图片个数
|
||||
# dir_path = os.path.dirname(__file__)
|
||||
# print(dir_path)
|
||||
# # path1 = os.path.split(os.path.realpath(__file__))[0]
|
||||
# # print(path1)
|
||||
# path3=os.path.join(os.path.split(dir_path)[0]+'/res/')
|
||||
|
||||
# print(path3)
|
||||
# #for file in os.listdir(path3):
|
||||
# pic_dir=os.path.join(path3+'red')
|
||||
# # print(pic_dir)
|
||||
# for i in os.listdir(pic_dir):
|
||||
# img=os.path.join(pic_dir,i)
|
||||
# print(img)
|
||||
# print(os.getcwd()+'/mycobot_ai/res/red')
|
||||
|
||||
# list1 = [[1, 2, 3], [4, 5, 6], [7, 8, 9], [10, 11, 12]]
|
||||
# print(list1[0][0])
|
||||
# for i, v in enumerate(list1):
|
||||
# print(i)
|
||||
|
||||
# res = []
|
||||
# for i in list1:
|
||||
# res.append(i)
|
||||
# print(res)
|
||||
|
||||
# # for i in list1:
|
||||
# # print(i)
|
||||
|
||||
# color=i
|
||||
# print(color)
|
||||
# for color in range(0,4):
|
||||
# print(color)
|
||||
|
||||
from pymycobot.mypalletizer import MyPalletizer
|
||||
from pymycobot.genre import Angle
|
||||
from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
|
||||
import time
|
||||
|
||||
# mc = MyCobot("/dev/ttyACM0", 115200)
|
||||
|
||||
mc = MyPalletizer("/dev/ttyAMA0", 1000000)
|
||||
# mc.send_angles([0,0,0,0,0,0], 20)
|
||||
|
||||
# time.sleep(2)
|
||||
# move_coords = [
|
||||
# [120.1, -141.6, 240.9, -173.34, -8.15, -110.11], # above the red bucket
|
||||
# # above the green bucket
|
||||
# #[208.2, -127.8, 260.9, -157.51, -17.5, -71.18],
|
||||
# [205.6, -130.5, 263.0, -150.99, -0.07, -107.35],
|
||||
# [209.7, -18.6, 230.4, -168.48, -9.86, -39.38],
|
||||
# [196.9, -64.7, 232.6, -166.66, -9.44, -52.47],
|
||||
# [126.6, -118.1, 305.0, -157.57, -13.72, -75.3],
|
||||
# ]
|
||||
|
||||
# mc.send_coords([126.6, -118.1, 305.0, -157.57, -13.72, -75.3],20,1)
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([104.9, 176.7, 242.6, -166.66, -9.44, -52.47],20,1) # above the blue bucket
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([-20.0, 176.7, 242.6, -166.66, -9.44, -52.47],20,1) # abobe the gray bucket
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([120.1,151.6,250.0,-173.34,-8.15,-110.11],20,1)
|
||||
# time.sleep(2)
|
||||
# mc.send_coords([104.9, 176.7, 242.6, -166.66, -9.44, -52.47],20,1)
|
||||
|
||||
# mc.send_angles([-26.11, -6.94, -55.01, -24.16, 0, 15],20)
|
||||
# mc.release_all_servos()
|
||||
# time.sleep(3)
|
||||
# print(mc.get_angles())
|
||||
# mc.send_angles([-1.14, 3.63, -87.8, 9.05, -3.07, 15],20)
|
||||
# time.sleep(2)
|
||||
# print(mc.get_angles())
|
||||
mc = MyPalletizer("/dev/ttyUSB0", 115200)
|
||||
|
||||
# mc = MyPalletizer("/dev/ttyAMA0", 1000000)
|
||||
# mc.send_angles([-29.0, 5.88, -4.92, -76.28],25) # init the point coords:[155.3, -86.1, 218.4, -47.28]
|
||||
# time.sleep(1.5)
|
||||
|
||||
# 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([0,0,0,0],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)
|
||||
|
|
@ -113,8 +26,8 @@ time.sleep(2)
|
|||
# time.sleep(3)
|
||||
|
||||
# mc.send_angle(3,0,25)
|
||||
# print(mc.get_angles())
|
||||
# print(mc.get_coords())
|
||||
print(mc.get_angles())
|
||||
print(mc.get_coords())
|
||||
|
||||
# while True:
|
||||
# print("angles:%s"%mc.get_angles())
|
||||
|
|
|
|||
Loading…
Add table
Reference in a new issue