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wangWking 2022-11-17 16:09:25 +08:00
parent a60a94aea0
commit cf705e0dbb
4 changed files with 6 additions and 6 deletions
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4
mycobot_ai/ai_mecharm_270/scripts/advance_detect_obj_color.py
View file

@ -164,10 +164,10 @@ class Object_detect(Movement):
self.pub_marker(x/1000.0, y/1000.0, 140/1000.0)
self.mc.send_coords([x, y, 103, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 m5
self.mc.send_coords([x, y, 96, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 m5
# self.mc.send_coords([x, y, 103, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 pi
time.sleep(3)
self.pub_marker(x/1000.0, y/1000.0, 103/1000.0)
self.pub_marker(x/1000.0, y/1000.0, 96/1000.0)
# open pump

4
mycobot_ai/ai_mecharm_270/scripts/advance_detect_obj_img_folder.py
View file

@ -154,7 +154,7 @@ class Object_detect(Movement):
self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
time.sleep(3)
self.mc.send_coords([x, y, 103, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15 m5
self.mc.send_coords([x, y, 96, 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, 92, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
time.sleep(3)
@ -176,7 +176,7 @@ class Object_detect(Movement):
# print(tmp)
self.mc.send_angles([tmp[0], 17.22, -32.51, tmp[3], 97, tmp[5]],30)
time.sleep(6)
time.sleep(3)
self.mc.send_coords(self.move_coords[color], 30, 1)

2
mycobot_ai/ai_mypalletizer_260/scripts/advance_detect_obj_color.py
View file

@ -162,7 +162,7 @@ class Object_detect(Movement):
# send coordinates to move mypal260
self.mc.send_coords([x, y, 160, 0], 20, 0)
time.sleep(1.5)
self.mc.send_coords([x, y, 101, 0], 20, 0)
self.mc.send_coords([x, y, 96, 0], 20, 0)
time.sleep(1.5)
# open pump

2
mycobot_ai/ai_mypalletizer_260/scripts/advance_detect_obj_img_folder.py
View file

@ -152,7 +152,7 @@ class Object_detect(Movement):
# send coordinates to move mypal260 根据不同底板机械臂，调整吸泵高度
self.mc.send_coords([x, y, 160, 0], 20, 0)
time.sleep(1.5)
self.mc.send_coords([x, y, 101, 0], 20, 0)
self.mc.send_coords([x, y, 96, 0], 20, 0)
time.sleep(1.5)
# open pump