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feat(api): python api add new method and modify usage

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This commit is contained in:
张立军 2021-01-08 11:41:49 +08:00
parent e14ece5fc0
commit 411a2a4c65
3 changed files with 101 additions and 20 deletions
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2
.gitignore vendored
View file

@ -1,3 +1,5 @@
urdf.zip urdf.zip
.DS_Store .DS_Store
.vscode/settings.json
.vscode/c_cpp_properties.json

56
scripts/pythonAPI/mycobot.py
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@ -1,6 +1,6 @@
import sys import sys
sys.path.append('.') sys.path.append('.')
import time, subprocess, serial, struct import time, serial, struct
class MyCobot(): class MyCobot():
'''MyCobot Python API '''MyCobot Python API
@ -16,6 +16,9 @@ class MyCobot():
set_color() : set_color() :
get_coords() : get_coords() :
send_coords() : send_coords() :
jog_angle() :
jog_coord() :
jog_stop() :
is_moving() : is_moving() :
pause() : pause() :
resume() : resume() :
@ -25,9 +28,10 @@ class MyCobot():
set_speed() : set_speed() :
''' '''
def __init__(self): def __init__(self, port):
_prot = subprocess.check_output(['echo -n /dev/ttyUSB*'], # _prot = subprocess.check_output(['echo -n /dev/ttyUSB*'],
shell=True) # shell=True)
_prot = port
_boudrate = '115200' _boudrate = '115200'
_timeout = 0.1 _timeout = 0.1
@ -196,9 +200,42 @@ class MyCobot():
command += (_hex) command += (_hex)
command += '{}{}fa'.format(speed, mode) command += '{}{}fa'.format(speed, mode)
print(command) # print(command)
self._write(command) self._write(command)
def jog_angle(joint_id, direction, speed):
'''Joint control
joint_id: string
direction: int [0, 1]
speed: int (0 - 100)
'''
command = 'fefe0530'
direction = hex(direction)[2:]
direction = self._complement_zero(direction, digit=2)
speed = hex(speed)[2:]
speed = self._complement_zero(speed, digit=2)
command += '{}{}{}fa'.format(joint_id, direction, speed)
self._write(command)
def jog_coord(coord, direction, speed):
'''Coord control
coord: string
direction: int [0, 1]
speed: int (0 - 100)
'''
command = 'fefe0532'
direction = hex(direction)[2:]
direction = self._complement_zero(direction, digit=2)
speed = hex(speed)[2:]
speed = self._complement_zero(speed, digit=2)
command += '{}{}{}fa'.format(coord, direction, speed)
self._write(command)
def jog_stop(self):
self._write('fefe0234fa')
def is_servo_enable(self): def is_servo_enable(self):
pass pass
@ -282,7 +319,10 @@ class MyCobot():
def _parse_data(self, data, name): def _parse_data(self, data, name):
data_list = [] data_list = []
data = data.encode('hex') data = data.encode('hex')
# print(data) data = data[-28:]
print(data)
if not (data.startswith('20') and data.endswith('fa')):
return []
if name == 'get_angles': if name == 'get_angles':
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
@ -294,14 +334,14 @@ class MyCobot():
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
_hex = data[i * 4: (i * 4) + 4] _hex = data[i * 4: (i * 4) + 4]
_coord = self._hex_to_int(_hex) / 10 _coord = self._hex_to_int(_hex) / 10.0
data_list.append(_coord) data_list.append(_coord)
elif name == 'get_angles_of_radian': elif name == 'get_angles_of_radian':
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
_hex = data[i * 4: (i * 4) + 4] _hex = data[i * 4: (i * 4) + 4]
_radian = self._hex_to_int(_hex) / 1000 _radian = self._hex_to_int(_hex) / 1000.0
data_list.append(_radian) data_list.append(_radian)
return (data_list) return (data_list)

61
scripts/pythonAPI/mycobot3.py
View file

@ -1,6 +1,6 @@
import sys import sys
sys.path.append('.') sys.path.append('.')
import time, subprocess, serial, struct import time, serial, struct
class MyCobot(): class MyCobot():
'''MyCobot Python API '''MyCobot Python API
@ -16,6 +16,9 @@ class MyCobot():
set_color() : set_color() :
get_coords() : get_coords() :
send_coords() : send_coords() :
jog_angle() :
jog_coord() :
jog_stop() :
is_moving() : is_moving() :
pause() : pause() :
resume() : resume() :
@ -25,10 +28,11 @@ class MyCobot():
set_speed() : set_speed() :
''' '''
def __init__(self): def __init__(self, port):
_prot = subprocess.run(['echo -n /dev/ttyUSB*'], # _prot = subprocess.run(['echo -n /dev/ttyUSB*'],
stdout=subprocess.PIPE, # stdout=subprocess.PIPE,
shell=True).stdout.decode('utf-8') # shell=True).stdout.decode('utf-8')
_prot = port
_boudrate = '115200' _boudrate = '115200'
_timeout = 0.1 _timeout = 0.1
@ -45,10 +49,10 @@ class MyCobot():
exit(0) exit(0)
def power_on(self): def power_on(self):
self._write('fe fe 02 10 fa') self._write('fefe0210fa')
def power_off(self): def power_off(self):
self._write('fe fe 02 11 fa') self._write('fefe0211fa')
def set_free_mode(self): def set_free_mode(self):
self._write('fefe0213fa') self._write('fefe0213fa')
@ -150,7 +154,7 @@ class MyCobot():
data_list (list): [x, y, z, rx, ry, rz] (mm) data_list (list): [x, y, z, rx, ry, rz] (mm)
''' '''
command = 'fe fe 02 23 fa' command = 'fefe0223fa'
self._write(command) self._write(command)
if self.serial_port.inWaiting() > 0: if self.serial_port.inWaiting() > 0:
data = self._read() data = self._read()
@ -200,6 +204,39 @@ class MyCobot():
# print(command) # print(command)
self._write(command) self._write(command)
def jog_angle(joint_id, direction, speed):
'''Joint control
joint_id: string
direction: int [0, 1]
speed: int (0 - 100)
'''
command = 'fefe0530'
direction = hex(direction)[2:]
direction = self._complement_zero(direction, digit=2)
speed = hex(speed)[2:]
speed = self._complement_zero(speed, digit=2)
command += '{}{}{}fa'.format(joint_id, direction, speed)
self._write(command)
def jog_coord(coord, direction, speed):
'''Coord control
coord: string
direction: int [0, 1]
speed: int (0 - 100)
'''
command = 'fefe0532'
direction = hex(direction)[2:]
direction = self._complement_zero(direction, digit=2)
speed = hex(speed)[2:]
speed = self._complement_zero(speed, digit=2)
command += '{}{}{}fa'.format(coord, direction, speed)
self._write(command)
def jog_stop(self):
self._write('fefe0234fa')
def is_servo_enable(self): def is_servo_enable(self):
pass pass
@ -283,7 +320,9 @@ class MyCobot():
def _parse_data(self, data, name): def _parse_data(self, data, name):
data_list = [] data_list = []
data = data.hex() data = data.hex()
# print(data) data = data[-28:]
if not (data.startswith('20') and data.endswith('fa')):
return []
if name == 'get_angles': if name == 'get_angles':
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
@ -295,14 +334,14 @@ class MyCobot():
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
_hex = data[i * 4: (i * 4) + 4] _hex = data[i * 4: (i * 4) + 4]
_coord = self._hex_to_int(_hex) / 10 _coord = self._hex_to_int(_hex) / 10.0
data_list.append(_coord) data_list.append(_coord)
elif name == 'get_angles_of_radian': elif name == 'get_angles_of_radian':
data = data[-26:-2] data = data[-26:-2]
for i in range(6): for i in range(6):
_hex = data[i * 4: (i * 4) + 4] _hex = data[i * 4: (i * 4) + 4]
_radian = self._hex_to_int(_hex) / 1000 _radian = self._hex_to_int(_hex) / 1000.0
data_list.append(_radian) data_list.append(_radian)
return (data_list) return (data_list)