mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
feat(api): python api add new method and modify usage
This commit is contained in:
张立军
parent
e14ece5fc0
commit
411a2a4c65
3 changed files with 101 additions and 20 deletions
4
.gitignore
vendored
4
.gitignore
vendored
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@ -1,3 +1,5 @@
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urdf.zip
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.DS_Store
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.DS_Store
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.vscode/settings.json
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.vscode/c_cpp_properties.json
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@ -1,6 +1,6 @@
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import sys
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sys.path.append('.')
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import time, subprocess, serial, struct
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import time, serial, struct
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class MyCobot():
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'''MyCobot Python API
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@ -16,6 +16,9 @@ class MyCobot():
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set_color() :
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get_coords() :
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send_coords() :
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jog_angle() :
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jog_coord() :
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jog_stop() :
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is_moving() :
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pause() :
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resume() :
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@ -25,9 +28,10 @@ class MyCobot():
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set_speed() :
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'''
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def __init__(self):
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_prot = subprocess.check_output(['echo -n /dev/ttyUSB*'],
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shell=True)
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def __init__(self, port):
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# _prot = subprocess.check_output(['echo -n /dev/ttyUSB*'],
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# shell=True)
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_prot = port
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_boudrate = '115200'
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_timeout = 0.1
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@ -196,9 +200,42 @@ class MyCobot():
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command += (_hex)
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command += '{}{}fa'.format(speed, mode)
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print(command)
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# print(command)
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self._write(command)
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def jog_angle(joint_id, direction, speed):
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'''Joint control
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joint_id: string
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direction: int [0, 1]
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speed: int (0 - 100)
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'''
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command = 'fefe0530'
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direction = hex(direction)[2:]
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direction = self._complement_zero(direction, digit=2)
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speed = hex(speed)[2:]
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speed = self._complement_zero(speed, digit=2)
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command += '{}{}{}fa'.format(joint_id, direction, speed)
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self._write(command)
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def jog_coord(coord, direction, speed):
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'''Coord control
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coord: string
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direction: int [0, 1]
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speed: int (0 - 100)
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'''
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command = 'fefe0532'
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direction = hex(direction)[2:]
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direction = self._complement_zero(direction, digit=2)
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speed = hex(speed)[2:]
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speed = self._complement_zero(speed, digit=2)
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command += '{}{}{}fa'.format(coord, direction, speed)
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self._write(command)
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def jog_stop(self):
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self._write('fefe0234fa')
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def is_servo_enable(self):
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pass
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@ -282,7 +319,10 @@ class MyCobot():
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def _parse_data(self, data, name):
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data_list = []
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data = data.encode('hex')
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# print(data)
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data = data[-28:]
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print(data)
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if not (data.startswith('20') and data.endswith('fa')):
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return []
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if name == 'get_angles':
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data = data[-26:-2]
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for i in range(6):
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@ -294,14 +334,14 @@ class MyCobot():
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data = data[-26:-2]
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for i in range(6):
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_hex = data[i * 4: (i * 4) + 4]
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_coord = self._hex_to_int(_hex) / 10
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_coord = self._hex_to_int(_hex) / 10.0
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data_list.append(_coord)
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elif name == 'get_angles_of_radian':
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data = data[-26:-2]
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for i in range(6):
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_hex = data[i * 4: (i * 4) + 4]
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_radian = self._hex_to_int(_hex) / 1000
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_radian = self._hex_to_int(_hex) / 1000.0
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data_list.append(_radian)
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return (data_list)
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@ -1,6 +1,6 @@
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import sys
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sys.path.append('.')
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import time, subprocess, serial, struct
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import time, serial, struct
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class MyCobot():
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'''MyCobot Python API
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@ -16,6 +16,9 @@ class MyCobot():
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set_color() :
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get_coords() :
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send_coords() :
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jog_angle() :
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jog_coord() :
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jog_stop() :
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is_moving() :
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pause() :
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resume() :
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@ -25,10 +28,11 @@ class MyCobot():
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set_speed() :
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'''
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def __init__(self):
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_prot = subprocess.run(['echo -n /dev/ttyUSB*'],
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stdout=subprocess.PIPE,
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shell=True).stdout.decode('utf-8')
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def __init__(self, port):
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# _prot = subprocess.run(['echo -n /dev/ttyUSB*'],
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# stdout=subprocess.PIPE,
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# shell=True).stdout.decode('utf-8')
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_prot = port
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_boudrate = '115200'
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_timeout = 0.1
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@ -45,10 +49,10 @@ class MyCobot():
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exit(0)
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def power_on(self):
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self._write('fe fe 02 10 fa')
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self._write('fefe0210fa')
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def power_off(self):
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self._write('fe fe 02 11 fa')
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self._write('fefe0211fa')
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def set_free_mode(self):
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self._write('fefe0213fa')
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@ -150,7 +154,7 @@ class MyCobot():
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data_list (list): [x, y, z, rx, ry, rz] (mm)
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'''
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command = 'fe fe 02 23 fa'
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command = 'fefe0223fa'
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self._write(command)
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if self.serial_port.inWaiting() > 0:
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data = self._read()
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@ -199,6 +203,39 @@ class MyCobot():
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command += '{}{}fa'.format(speed, mode)
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# print(command)
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self._write(command)
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def jog_angle(joint_id, direction, speed):
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'''Joint control
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joint_id: string
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direction: int [0, 1]
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speed: int (0 - 100)
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'''
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command = 'fefe0530'
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direction = hex(direction)[2:]
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direction = self._complement_zero(direction, digit=2)
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speed = hex(speed)[2:]
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speed = self._complement_zero(speed, digit=2)
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command += '{}{}{}fa'.format(joint_id, direction, speed)
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self._write(command)
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def jog_coord(coord, direction, speed):
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'''Coord control
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coord: string
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direction: int [0, 1]
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speed: int (0 - 100)
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'''
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command = 'fefe0532'
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direction = hex(direction)[2:]
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direction = self._complement_zero(direction, digit=2)
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speed = hex(speed)[2:]
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speed = self._complement_zero(speed, digit=2)
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command += '{}{}{}fa'.format(coord, direction, speed)
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self._write(command)
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def jog_stop(self):
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self._write('fefe0234fa')
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def is_servo_enable(self):
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pass
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@ -283,7 +320,9 @@ class MyCobot():
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def _parse_data(self, data, name):
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data_list = []
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data = data.hex()
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# print(data)
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data = data[-28:]
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if not (data.startswith('20') and data.endswith('fa')):
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return []
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if name == 'get_angles':
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data = data[-26:-2]
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for i in range(6):
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@ -295,14 +334,14 @@ class MyCobot():
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data = data[-26:-2]
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for i in range(6):
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_hex = data[i * 4: (i * 4) + 4]
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_coord = self._hex_to_int(_hex) / 10
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_coord = self._hex_to_int(_hex) / 10.0
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data_list.append(_coord)
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elif name == 'get_angles_of_radian':
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data = data[-26:-2]
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for i in range(6):
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_hex = data[i * 4: (i * 4) + 4]
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_radian = self._hex_to_int(_hex) / 1000
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_radian = self._hex_to_int(_hex) / 1000.0
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data_list.append(_radian)
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return (data_list)
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