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update mecharm_270 M5 point

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This commit is contained in:
weijian 2022-12-07 10:23:06 +08:00
parent be8834ded1
commit c682b6a942
2 changed files with 24 additions and 20 deletions
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18
mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_color.py
View file

@ -40,8 +40,8 @@ class Object_detect(Movement):
self.move_coords = [ self.move_coords = [
[92.3, -104.9, 211.4, -179.6, 28.91, 131.29], # above the red bucket [92.3, -104.9, 211.4, -179.6, 28.91, 131.29], # above the red bucket
[165.0, -93.6, 201.4, -173.43, 46.23, 160.65], # above the green bucket [165.0, -93.6, 201.4, -173.43, 46.23, 160.65], # above the green bucket
[88.1, 126.3, 193.4, 162.15, 2.23, 156.02], # above the blue bucket [84.3, 123.8, 205.0, 153.45, -3.67, 142.01], # above the blue bucket
[-5.4, 120.6, 204.6, 162.66, -6.96, 159.93], # above the gray bucket [-15, 120.6, 204.6, 162.66, -6.96, 159.93], # above the gray bucket
] ]
# which robot: USB* is m5; ACM* is wio; AMA* is raspi # which robot: USB* is m5; ACM* is wio; AMA* is raspi
@ -54,7 +54,9 @@ class Object_detect(Movement):
self.Pin = [2, 5] self.Pin = [2, 5]
# self.Pin = [5] # self.Pin = [5]
elif "dev" in self.robot_wio: elif "dev" in self.robot_wio:
self.Pin = [20, 21] # self.Pin = [20, 21]
self.Pin = [2, 5]
# self.Pin = [5]
for i in self.move_coords: for i in self.move_coords:
i[2] -= 20 i[2] -= 20
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
@ -173,7 +175,7 @@ class Object_detect(Movement):
# open pump # open pump
if "dev" in self.robot_m5: if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_on() self.pump_on()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(True) self.gpio_status(True)
@ -188,7 +190,7 @@ class Object_detect(Movement):
time.sleep(0.5) time.sleep(0.5)
# print(tmp) # print(tmp)
self.mc.send_angles([tmp[0], 17.22, -32.51, tmp[3], 97, tmp[5]],30) self.mc.send_angles([tmp[0], 17.22, -45, tmp[3], 97, tmp[5]],30)
time.sleep(3) time.sleep(3)
@ -200,7 +202,7 @@ class Object_detect(Movement):
time.sleep(3) time.sleep(3)
# close pump # close pump
if "dev" in self.robot_m5: if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_off() self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False) self.gpio_status(False)
@ -231,7 +233,9 @@ class Object_detect(Movement):
# init 270 # init 270
def run(self): def run(self):
if "dev" in self.robot_m5: if "dev" in self.robot_m5:
self.mc = MyCobot(self.robot_m5, 115200) self.mc = MyCobot(self.robot_m5, 115200)
elif "dev" in self.robot_wio:
self.mc = MyCobot(self.robot_wio, 115200)
elif "dev" in self.robot_raspi: elif "dev" in self.robot_raspi:
self.mc = MyCobot(self.robot_raspi, 1000000) self.mc = MyCobot(self.robot_raspi, 1000000)
if not self.raspi: if not self.raspi:

26
mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py
View file

@ -46,8 +46,8 @@ class Object_detect(Movement):
self.move_coords = [ self.move_coords = [
[92.3, -104.9, 211.4, -179.6, 28.91, 131.29], # above the red bucket [92.3, -104.9, 211.4, -179.6, 28.91, 131.29], # above the red bucket
[165.0, -93.6, 201.4, -173.43, 46.23, 160.65], # above the green bucket [165.0, -93.6, 201.4, -173.43, 46.23, 160.65], # above the green bucket
[88.1, 126.3, 193.4, 162.15, 2.23, 156.02], # above the blue bucket [84.3, 123.8, 205.0, 153.45, -3.67, 142.01], # above the blue bucket
[-5.4, 120.6, 204.6, 162.66, -6.96, 159.93], # above the gray bucket [-15, 120.6, 204.6, 162.66, -6.96, 159.93], # above the gray bucket
] ]
# 判断连接设备:ttyUSB*为M5，ttyACM*为seeed # 判断连接设备:ttyUSB*为M5，ttyACM*为seeed
@ -59,7 +59,8 @@ class Object_detect(Movement):
if "dev" in self.robot_m5: if "dev" in self.robot_m5:
self.Pin = [2, 5] self.Pin = [2, 5]
elif "dev" in self.robot_wio: elif "dev" in self.robot_wio:
self.Pin = [20, 21] # self.Pin = [20, 21]
self.Pin = [2, 5]
for i in self.move_coords: for i in self.move_coords:
i[2] -= 20 i[2] -= 20
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
@ -158,21 +159,20 @@ class Object_detect(Movement):
def move(self, x, y, color): def move(self, x, y, color):
# send Angle to move 270 # send Angle to move 270
self.mc.send_angles(self.move_angles[0], 30) self.mc.send_angles(self.move_angles[0], 30)
time.sleep(7) time.sleep(4)
print("x %s ,y %s" % (x,y)) print("x %s ,y %s" % (x,y))
# send coordinates to move 270 根据不同底板机械臂，调整吸泵高度 # send coordinates to move 270 根据不同底板机械臂，调整吸泵高度
self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0) self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
time.sleep(7) time.sleep(3)
print("ntm")
self.mc.send_coords([x, y, 95, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 m5 self.mc.send_coords([x, y, 95, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 m5
# self.mc.send_coords([x, y, 90, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 pi # self.mc.send_coords([x, y, 90, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 pi
# self.mc.send_coords([x, y, 92, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 # self.mc.send_coords([x, y, 92, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
time.sleep(6) time.sleep(3)
# open pump # open pump
if "dev" in self.robot_m5: if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_on() self.pump_on()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(True) self.gpio_status(True)
@ -187,25 +187,25 @@ class Object_detect(Movement):
time.sleep(0.5) time.sleep(0.5)
# print(tmp) # print(tmp)
self.mc.send_angles([tmp[0], 17.22, -32.51, tmp[3], 97, tmp[5]],30) self.mc.send_angles([tmp[0], 17.22, -45, tmp[3], 97, tmp[5]],30)
time.sleep(6) time.sleep(3)
self.mc.send_coords(self.move_coords[color], 30, 1) self.mc.send_coords(self.move_coords[color], 30, 1)
self.pub_marker(self.move_coords[color][0] / 1000.0, self.pub_marker(self.move_coords[color][0] / 1000.0,
self.move_coords[color][1] / 1000.0, self.move_coords[color][1] / 1000.0,
self.move_coords[color][2] / 1000.0) self.move_coords[color][2] / 1000.0)
time.sleep(6) time.sleep(3)
# close pump # close pump
if "dev" in self.robot_m5: if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_off() self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False) self.gpio_status(False)
time.sleep(6) time.sleep(6)
self.mc.send_angles(self.move_angles[1], 30) self.mc.send_angles(self.move_angles[1], 30)
time.sleep(6) time.sleep(2)
# decide whether grab cube # decide whether grab cube
def decide_move(self, x, y, color): def decide_move(self, x, y, color):