diff --git a/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py b/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py index 5b05fa4..16b8a6d 100755 --- a/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py +++ b/mycobot_ai/myPalletizer_260/scripts/detect_obj_color.py @@ -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 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 4507857..9b30397 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 @@ -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 diff --git a/mycobot_ai/myPalletizer_260/scripts/test.py b/mycobot_ai/myPalletizer_260/scripts/test.py index 376a498..c716bc2 100755 --- a/mycobot_ai/myPalletizer_260/scripts/test.py +++ b/mycobot_ai/myPalletizer_260/scripts/test.py @@ -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())