change port way

mycobot_280/mycobot_280jn/scripts/follow_display.py

@@ -24,7 +24,7 @@ def talker():
     try:
         # mycobot = MyCobot(port, baud)
         mycobot=MyCobotSocket(ip,netport)
-        mycobot.connect(serialport="/dev/ttyTHS1", baudrate="1000000")
+        mycobot.connect()
     except Exception as e:
         print(e)
         print(
@@ -67,13 +67,14 @@ def talker():
         joint_state_send.header.stamp = rospy.Time.now()
 
         angles = mycobot.get_radians()
+        print('angles:',angles)
         data_list = []
         for index, value in enumerate(angles):
             data_list.append(value)
 
         # rospy.loginfo('{}'.format(data_list))
         joint_state_send.position = data_list
-
+        print('data_list:',data_list)
         pub.publish(joint_state_send)
 
         coords = mycobot.get_coords()

mycobot_280/mycobot_280jn/scripts/slider_control.py

@@ -43,7 +43,7 @@ def listener():
     port=rospy.get_param("~port",9000)
     print(ip,port)
     ms=MyCobotSocket(ip,port)
-    ms.connect(serialport="/dev/ttyTHS1", baudrate="1000000")
+    ms.connect()
 
     # spin() simply keeps python from exiting until this node is stopped
     # spin()只是阻止python退出，直到该节点停止

mycobot_280/mycobot_280jn/scripts/teleop_keyboard.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python
+# encoding=utf-8
 from __future__ import print_function
 from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
@@ -147,8 +148,10 @@ def teleop_keyboard():
                     switch_gripper(False)
                 elif key == "1":
                     rsp = set_angles(*init_pose)
+                    record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
                 elif key in "2":
                     rsp = set_angles(*home_pose)
+                    record_coords = [res.x, res.y, res.z, res.rx, res.ry, res.rz, speed, model]
                 elif key in "3":
                     rep = get_angles()
                     home_pose[0] = rep.joint_1

mycobot_280/mycobot_280jn/scripts/test.py

@@ -1,12 +1,44 @@
+# encoding=utf-8
 import time
 from pymycobot.mycobotsocket import MyCobotSocket
 # from pymycobot.mycobot import MyCobot
-ms=MyCobotSocket('192.168.125.226',9000)
 
-ms.connect(serialport="/dev/ttyTHS1", baudrate="1000000")
 
-ms.send_angles([50,0,0,0,0,0],50)
-time.sleep(2)
+# ms.send_angles([50,0,0,0,0,0],50)
+i=100
 
-print(ms.get_angles())
-ms.release_all_servos()
+# while i>=0:
+for i in range(1,256):
+    ms=MyCobotSocket('192.168.125.226',9000)
+
+    ms.connect()
+    time.sleep(1)
+    print('angles:',ms.get_angles())
+    time.sleep(1)
+    print('coords:',ms.get_coords())
+    # i-=1
+    # break
+# ms.release_all_servos()
+
+# 获取本机IP地址
+import socket
+# import struct
+# import fcntl
+ 
+# def getip(ethname):
+ 
+#     s=socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    
+#     return socket.inet_ntoa(fcntl.ioctl(s.fileno(), 0X8915, struct.pack('256s', ethname[:15]))[20:24])
+ 
+# if __name__=='__main__':
+ 
+#     print(getip('enp0s3'))
+
+# hostname=socket.gethostname()
+# print(hostname)
+# ip=socket.gethostbyname(hostname)
+# print(ip)
+
+# for port in  range(9000,9999):
+#     print(port)

mycobot_communication/scripts/mycobot_services.py

@@ -23,7 +23,7 @@ def create_handle():
     port=rospy.get_param("~port")
     rospy.loginfo("%s,%s" % (ip,port))
     ms=MyCobotSocket(ip,port)
-    ms.connect(serialport="/dev/ttyTHS1", baudrate="1000000")
+    ms.connect()
 
 
 def create_services():
@@ -48,7 +48,7 @@ def set_angles(req):
         req.joint_6,
     ]
     sp = req.speed
-
+    print('angles1:',angles)
     if ms:
         ms.send_angles(angles, sp)
 
@@ -59,6 +59,7 @@ def get_angles(req):
     """get angles,获取角度"""
     if ms:
         angles = ms.get_angles()
+        print('angles2:',angles)
         return GetAnglesResponse(*angles)
 
 
@@ -83,6 +84,7 @@ def set_coords(req):
 def get_coords(req):
     if ms:
         coords = ms.get_coords()
+        print('coords:',coords)
         return GetCoordsResponse(*coords)