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Merge pull request #83 from elephantrobotics/new_mycobot320_pi

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wangWking 2022-09-14 11:18:18 +08:00 • committed by GitHub
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2 changed files with 30 additions and 37 deletions
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8
mycobot_communication/launch/communication_service.launch
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@ -1,13 +1,13 @@
<launch> <launch>
<!-- Select connecting device and serial port ，选择连接设备及串口--> <!-- Select connecting device and serial port ，选择连接设备及串口-->
<arg name="port" default="/dev/ttyAMA0" /> <arg name="port" default="/dev/ttyUSB0" />
<arg name="baud" default="1000000" /> <arg name="baud" default="115200" />
<!-- Open communication service ，开启通讯服务--> <!-- Open communication service ，开启通讯服务-->
<node name="mycobot_services" pkg="mycobot_communication" type="mycobot_services.py" output="screen"> <node name="mycobot_services" pkg="mycobot_communication" type="mycobot_services.py" output="screen">
<param name="ip" type="string" value="$(arg ip)" /> <param name="port" type="string" value="$(arg port)" />
<param name="port" type="int" value="$(arg port)" /> <param name="baud" type="int" value="$(arg baud)" />
</node> </node>
</launch> </launch>

59
mycobot_communication/scripts/mycobot_services.py
View file

@ -5,25 +5,18 @@ import rospy
from mycobot_communication.srv import * from mycobot_communication.srv import *
from pymycobot.mycobot import MyCobot from pymycobot.mycobot import MyCobot
from pymycobot.mycobotsocket import MyCobotSocket
# mc = None mc = None
ms = None
def create_handle(): def create_handle():
# global mc global mc
global ms
rospy.init_node("mycobot_services") rospy.init_node("mycobot_services")
rospy.loginfo("start ...") rospy.loginfo("start ...")
# port = rospy.get_param("~port") port = rospy.get_param("~port")
# baud = rospy.get_param("~baud") baud = rospy.get_param("~baud")
# rospy.loginfo("%s,%s" % (port, baud)) rospy.loginfo("%s,%s" % (port, baud))
# ms = MyCobot(port, baud) mc = MyCobot(port, baud)
ip=rospy.get_param("~ip")
port=rospy.get_param("~port")
rospy.loginfo("%s,%s" % (ip,port))
ms=MyCobotSocket(ip,port)
ms.connect()
def create_services(): def create_services():
@ -49,16 +42,16 @@ def set_angles(req):
] ]
sp = req.speed sp = req.speed
print('angles1:',angles) print('angles1:',angles)
if ms: if mc:
ms.send_angles(angles, sp) mc.send_angles(angles, sp)
return SetAnglesResponse(True) return SetAnglesResponse(True)
def get_angles(req): def get_angles(req):
"""get angles,获取角度""" """get angles,获取角度"""
if ms: if mc:
angles = ms.get_angles() angles = mc.get_angles()
print('angles2:',angles) print('angles2:',angles)
return GetAnglesResponse(*angles) return GetAnglesResponse(*angles)
@ -75,15 +68,15 @@ def set_coords(req):
sp = req.speed sp = req.speed
mod = req.model mod = req.model
if ms: if mc:
ms.send_coords(coords, sp, mod) mc.send_coords(coords, sp, mod)
return SetCoordsResponse(True) return SetCoordsResponse(True)
def get_coords(req): def get_coords(req):
if ms: if mc:
coords = ms.get_coords() coords = mc.get_coords()
print('coords:',coords) print('coords:',coords)
return GetCoordsResponse(*coords) return GetCoordsResponse(*coords)
@ -91,23 +84,23 @@ def get_coords(req):
def switch_status(req): def switch_status(req):
"""Gripper switch status""" """Gripper switch status"""
"""夹爪开关状态""" """夹爪开关状态"""
if ms: if mc:
if req.Status: if req.Status:
ms.set_gripper_state(0, 80) mc.set_gripper_state(0, 80)
else: else:
ms.set_gripper_state(1, 80) mc.set_gripper_state(1, 80)
return GripperStatusResponse(True) return GripperStatusResponse(True)
def toggle_pump(req): def toggle_pump(req):
if ms: if mc:
if req.Status: if req.Status:
ms.set_basic_output(req.Pin1, 0) mc.set_basic_output(req.Pin1, 0)
ms.set_basic_output(req.Pin2, 0) mc.set_basic_output(req.Pin2, 0)
else: else:
ms.set_basic_output(req.Pin1, 1) mc.set_basic_output(req.Pin1, 1)
ms.set_basic_output(req.Pin2, 1) mc.set_basic_output(req.Pin2, 1)
return PumpStatusResponse(True) return PumpStatusResponse(True)
@ -139,12 +132,12 @@ def output_robot_message():
servo_temperature = "unknown" servo_temperature = "unknown"
atom_version = "unknown" atom_version = "unknown"
if ms: if mc:
cn = ms.is_controller_connected() cn = mc.is_controller_connected()
if cn == 1: if cn == 1:
connect_status = True connect_status = True
time.sleep(0.1) time.sleep(0.1)
si = ms.is_all_servo_enable() si = mc.is_all_servo_enable()
if si == 1: if si == 1:
servo_infomation = "all connected" servo_infomation = "all connected"