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2929ss 2022-07-12 18:50:18 +08:00
parent 7051e28bf9
commit b4472642bf
3 changed files with 24 additions and 24 deletions
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18
mycobot_ai/myCobot_280/scripts/combine_detect_obj_color .py
View file

@ -48,7 +48,9 @@ class Object_detect(Movement):
if "dev" in self.robot_m5:
self.Pin = [2, 5]
elif "dev" in self.robot_wio:
self.Pin = [20, 21]
# self.Pin = [20, 21]
self.Pin = [2, 5]
for i in self.move_coords:
i[2] -= 20
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
@ -154,17 +156,17 @@ class Object_detect(Movement):
time.sleep(3)
# send coordinates to move mycobot
self.mc.send_coords([x, y, 190.6, -173.3, -5.48, -57.9], 25, 1)
self.mc.send_coords([x, y, 190.6, 179.87, -3.78, -62.75], 25, 1) # usb :rx,ry,rz -173.3, -5.48, -57.9
time.sleep(3)
self.mc.send_coords([x, y, 150, -173.3, -5.48, -57.9], 25, 0)
time.sleep(3)
# self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
# time.sleep(3)
self.mc.send_coords([x, y, 123, -173.3, -5.48, -57.9], 10, 0)
self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0)
time.sleep(3)
# open pump
if "dev" in self.robot_m5:
if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_on()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(True)
@ -191,8 +193,8 @@ class Object_detect(Movement):
time.sleep(3)
# close pump
if "dev" in self.robot_m5:
self.pump_off()
if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False)
time.sleep(6)

18
mycobot_ai/myCobot_280/scripts/combine_detect_obj_img_folder_opt.py
View file

@ -30,7 +30,7 @@ __version__ = "1.0" # Adaptive seeed
class Object_detect(Movement):
def __init__(self, camera_x = 170, camera_y = -5):
def __init__(self, camera_x = 165, camera_y = -5):
# inherit the parent class
super(Object_detect, self).__init__()
# get path of file
@ -173,17 +173,17 @@ class Object_detect(Movement):
time.sleep(3)
# send coordinates to move mycobot
self.mc.send_coords([x, y, 190.6, -173.3, -5.48, -57.9], 25, 1)
time.sleep(2.5)
self.mc.send_coords([x, y, 190.6, 179.87, -3.78, -62.75], 25, 1) # usb :rx,ry,rz -173.3, -5.48, -57.9
time.sleep(3)
self.mc.send_coords([x, y, 150, -173.3, -5.48, -57.9], 25, 0)
time.sleep(2.5)
# self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
# time.sleep(3)
self.mc.send_coords([x, y, 123, -173.3, -5.48, -57.9], 10, 0)
self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0)
time.sleep(3)
# open pump
if "dev" in self.robot_m5:
if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_on()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(True)
@ -209,8 +209,8 @@ class Object_detect(Movement):
time.sleep(3)
# close pump
if "dev" in self.robot_m5:
self.pump_off()
if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False)
time.sleep(6)

12
mycobot_ai/myCobot_280/scripts/test.py
View file

@ -4,12 +4,12 @@ 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
import time
# mc = MyCobot("/dev/ttyACM0", 115200)
mc = MyCobot("/dev/ttyUSB0", 115200)
mc = MyCobot("/dev/ttyACM0", 115200)
# mc = MyCobot("/dev/ttyUSB0", 115200)
# mc = MyCobot("/dev/ttyAMA0", 1000000)
# mc.send_angles([0,0,0,0,90,0], 20)
mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0, -15], 30)
mc.send_angles([-7.11, -6.94, -55.01, -24.16, 0.0, -15], 30)
time.sleep(4)
# mc.send_coords([120.8, -134.4, 258.0, -172.72, -5.31, -109.09], 30, 1) # red bucket
@ -28,11 +28,9 @@ time.sleep(4)
# mc.send_angles([1.4, 0, -53.61, -33.39, -3.51, -20.3],20)
# time.sleep(3)
# mc.send_coords([155.8, -8.4, 140, -173.3, -5.48, -57.9], 30, 1)
# time.sleep(6)
mc.send_coords([145.3, -11.2, 126.6, 179.87, -3.78, -62.75], 30, 1)
time.sleep(6)
# mc.send_coords([161.5, -1.1, 115.6, -177.4, 1.09, -51.97], 30, 1)
# time.sleep(3)
# mc.release_all_servos()
# time.sleep(1)