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2929ss 2022-07-21 17:43:56 +08:00
parent 300cbd3a1c
commit 71f24b14c2
1 changed files with 23 additions and 9 deletions
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32
mycobot_ai/ai_mecharm_270/scripts/test.py
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@ -6,9 +6,10 @@ from pymycobot.genre import Angle
from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化 from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
import time,os import time,os
mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200) # mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200)
# mc = MyCobot(os.popen("ls /dev/ttyACM*").readline()[:-1], 115200) # mc = MyCobot(os.popen("ls /dev/ttyACM*").readline()[:-1], 115200)
# mc = MyCobot("/dev/ttyAMA0", 1000000) # mc = MyCobot("/dev/ttyAMA0", 1000000)
mc = MyCobot(PI_PORT,PI_BAUD)
# 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([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
@ -41,22 +42,35 @@ mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200)
# print("\n") # print("\n")
# mc.release_all_servos() # mc.release_all_servos()
# mc.release_servo(1) mc.release_servo(2)
# mc.set_servo_calibration(1) # mc.set_servo_calibration(1)
# mc.set_servo_calibration(2) mc.set_servo_calibration(2)
# mc.set_servo_calibration(3) # mc.set_servo_calibration(3)
# mc.set_servo_calibration(4) # mc.set_servo_calibration(4)
# mc.set_servo_calibration(5) # mc.set_servo_calibration(5)
# mc.set_servo_calibration(6) # mc.set_servo_calibration(6)
mc.set_basic_output(2, 0) # mc.set_basic_output(2, 0)
mc.set_basic_output(5, 0) # mc.set_basic_output(5, 0)
time.sleep(3) # time.sleep(3)
mc.set_basic_output(2, 1) # mc.set_basic_output(2, 1)
mc.set_basic_output(5, 1) # mc.set_basic_output(5, 1)
time.sleep(3) # time.sleep(3)
# print(mc.get_basic_input(2)) # print(mc.get_basic_input(2))
# print(mc.get_basic_input(5)) # print(mc.get_basic_input(5))
# import RPi.GPIO as GPIO
# GPIO.setwarnings(False)
# GPIO.setmode(GPIO.BCM)
# GPIO.setup(20, GPIO.OUT)
# GPIO.setup(21, GPIO.OUT)
# GPIO.output(20, 0)
# GPIO.output(21, 0)
# time.sleep(3)
# GPIO.output(20, 1)
# GPIO.output(21, 1)