From 2a3ecb24fdcf33dd486320f75cad6e2a64ea73d9 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Thu, 28 Apr 2022 17:45:10 +0800
Subject: [PATCH] fix bug

---
 .../scripts/mycobot_320_follow_display.py                | 9 ++++-----
 .../new_mycobot_320/scripts/mycobot_320_slider.py        | 2 +-
 .../scripts/mycobot_320_teleop_keyboard.py               | 7 ++++---
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py
index f579dd3..fdd5423 100755
--- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py
+++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_follow_display.py
@@ -15,7 +15,7 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    port = rospy.get_param("~port", "/dev/ttyACM0")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
@@ -65,14 +65,14 @@ def talker():
         data_list = []
         for index, value in enumerate(angles):
             data_list.append(value)
-        # print('data_list=======================>',data_list)
+
         # rospy.loginfo('{}'.format(data_list))
         joint_state_send.position = data_list
 
         pub.publish(joint_state_send)
 
         coords = mycobot.get_coords()
-        # print('coords=========================>',coords)
+
         # marker
         marker_.header.stamp = rospy.Time.now()
         marker_.type = marker_.SPHERE
@@ -82,10 +82,9 @@ def talker():
         marker_.scale.z = 0.04
 
         # marker position initial
-        print('coordscoords------------->',coords)
         if not coords:
             coords = [0, 0, 0, 0, 0, 0]
-            # print('coordscoordscoords====----==========>',coords)
+
             rospy.loginfo("error [101]: can not get coord values")
 
         marker_.pose.position.x = coords[1] / 1000 * -1
diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
index a3725c0..ac0c929 100755
--- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
+++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_slider.py
@@ -35,7 +35,7 @@ def listener():
     rospy.init_node("control_slider", anonymous=True)
 
     rospy.Subscriber("joint_states", JointState, callback)
-    port = rospy.get_param("~port", "/dev/ttyACM0")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
     baud = rospy.get_param("~baud", 115200)
     print(port, baud)
     mc = MyCobot(port, baud)
diff --git a/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py b/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py
index 50dc874..048aea3 100755
--- a/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py
+++ b/mycobot_320/new_mycobot_320/scripts/mycobot_320_teleop_keyboard.py
@@ -11,7 +11,7 @@ import time
 
 import roslib
 
-
+# Terminal output prompt information. 终端输出提示信息
 msg = """\
 Mycobot Teleop Keyboard Controller
 ---------------------------
@@ -64,7 +64,7 @@ def teleop_keyboard():
     change_angle = 180 * change_percent / 100
     change_len = 250 * change_percent / 100
 
-    rospy.wait_for_service("get_joint_ang cles")
+    rospy.wait_for_service("get_joint_angles")
     rospy.wait_for_service("set_joint_angles")
     rospy.wait_for_service("get_joint_coords")
     rospy.wait_for_service("set_joint_coords")
@@ -88,8 +88,8 @@ def teleop_keyboard():
 
     while True:
         res = get_coords()
+        # print(res)
         if res.x > 1:
-            print("joint1's angle : "+str(res.x)+"is not > 1,please calibrate the joint1's angle")
             break
         time.sleep(0.1)
     
@@ -99,6 +99,7 @@ def teleop_keyboard():
     try:
         print(msg)
         print(vels(speed, change_percent))
+        # Keyboard keys call different motion functions. 键盘按键调用不同的运动功能
         while 1:
             try:
                 # print("\r current coords: %s" % record_coords, end="")