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change slider_600.py

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wangWking 2022-06-07 14:00:38 +08:00
parent 545c8ec6a3
commit 3623e0a3fc
1 changed files with 16 additions and 14 deletions
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mycobot_pro/mycobot_600/scripts/slider_600.py Normal file → Executable file
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@ -1,5 +1,5 @@
#!/usr/bin/python #!/usr/bin/env python2
# -*- coding: utf-8 -*-
from socket import * from socket import *
import math import math
import sys import sys
@ -248,6 +248,7 @@ old_list = []
def callback(data): def callback(data):
"""callback function,回调函数""" """callback function,回调函数"""
satrt_time=time.time()
global old_list global old_list
# rospy.loginfo(rospy.get_caller_id() + "%s", data.position) # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
print ("position", data.position) print ("position", data.position)
@ -262,33 +263,34 @@ def callback(data):
mc.write_angles(data_list, 1999) mc.write_angles(data_list, 1999)
elif old_list != data_list: elif old_list != data_list:
old_list = data_list old_list = data_list
if mc.check_running(): # if mc.check_running():
mc.task_stop() # mc.task_stop()
time.sleep(0.05) # time.sleep(0.05)
mc.write_angles(data_list, 1999) mc.write_angles(data_list, 1999)
end_time=time.time()
print('loop_time:',end_time-satrt_time)
def listener(): def listener():
global mc global mc
rospy.init_node("control_slider", anonymous=True) rospy.init_node("control_slider", anonymous=True)
ip = rospy.get_param("~ip", "192.168.10.169") ip = rospy.get_param("~ip", "192.168.10.159")
print (ip) print (ip)
mc = ElephantRobot(ip, 5001) mc = ElephantRobot(ip, 5001)
# START CLIENT,启动客户端 # START CLIENT,启动客户端
res = mc.start_client() res = mc.start_client()
if res != "": if res != "":
print res
sys.exit(1) sys.exit(1)
print ep.wait(5) # print ep.wait(5)
print mc.get_angles() # print mc.get_angles()
print mc.get_coords() # print mc.get_coords()
mc.set_speed(30) mc.set_speed(90)
print mc.get_speed() # print mc.get_speed()
rospy.Subscriber("joint_states", JointState, callback) rospy.Subscriber("joint_states", JointState, callback)
end_time=time.time()
# spin() simply keeps python from exiting until this node is stopped # spin() simply keeps python from exiting until this node is stopped
# spin()只是阻止python退出，直到该节点停止 # spin()只是阻止python退出，直到该节点停止
print ("sping ...") print ("sping ...")