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This commit is contained in:
2929ss 2022-07-21 16:42:39 +08:00
parent e623cb1ae8
commit 300cbd3a1c
2 changed files with 20 additions and 6 deletions
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5
mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_color.py
View file

@ -20,7 +20,7 @@ __version__ = "1.0"
class Object_detect(Movement):
def __init__(self, camera_x = 145, camera_y = -5):
def __init__(self, camera_x = 140, camera_y = -5):
# inherit the parent class
super(Object_detect, self).__init__()
# get path of file
@ -51,6 +51,7 @@ class Object_detect(Movement):
self.raspi = False
if "dev" in self.robot_m5:
self.Pin = [2, 5]
# self.Pin = [5]
elif "dev" in self.robot_wio:
self.Pin = [20, 21]
for i in self.move_coords:
@ -162,7 +163,7 @@ class Object_detect(Movement):
self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
time.sleep(3)
self.mc.send_coords([x, y, 110, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
self.mc.send_coords([x, y, 90, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
time.sleep(3)
# open pump

21
mycobot_ai/ai_mecharm_270/scripts/test.py
View file

@ -7,13 +7,14 @@ from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时
import time,os
mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200)
# mc = MyCobot(os.popen("ls /dev/ttyACM*").readline()[:-1], 115200)
# mc = MyCobot("/dev/ttyAMA0", 1000000)
mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
# # mc.send_angles([-3.25, 17.22, -32.51, 2.37, 92.54, -36.21],30)
# mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
# time.sleep(4)
time.sleep(4)
# mc.send_angles([-3.25, 17.22, -32.51, 2.37, 92.54, -36.21],30)
# mc.send_coords([92.3, -104.9, 211.4, -179.6, 28.91, 131.29], 30, 0) # above the red bucket
# time.sleep(4)
@ -40,10 +41,22 @@ time.sleep(4)
# print("\n")
# mc.release_all_servos()
# mc.release_servo(3)
# mc.release_servo(1)
# mc.set_servo_calibration(1)
# mc.set_servo_calibration(2)
# mc.set_servo_calibration(3)
# mc.set_servo_calibration(4)
# mc.set_servo_calibration(5)
# mc.set_servo_calibration(6)
mc.set_basic_output(2, 0)
mc.set_basic_output(5, 0)
time.sleep(3)
mc.set_basic_output(2, 1)
mc.set_basic_output(5, 1)
time.sleep(3)
# print(mc.get_basic_input(2))
# print(mc.get_basic_input(5))