renew

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

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

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/ttyUSB0", 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/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)
+# mc.send_angles([0,0,0,0],25)
-time.sleep(2)
+# 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_angles())
-# print(mc.get_coords())
+print(mc.get_coords())
 
 # while True:
 #     print("angles:%s"%mc.get_angles())