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add aikit-320 ros

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This commit is contained in:
weijian 2023-06-13 13:37:13 +08:00
parent ad412357e7
commit dd69b52bf6
4 changed files with 10 additions and 10 deletions
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8
mycobot_ai/aikit_320_pi/scripts/aikit_color.py
View file

@ -24,7 +24,7 @@ class Object_detect(Movement):
# 移动角度
self.move_angles = [
[0.61, 45.87, -92.37, -41.3, 2.02, 9.58], # init the point
[0.61, 45.87, -92.37, -41.3, 89.56, 9.58], # init the point
[18.8, -7.91, -54.49, -23.02, -0.79, -14.76], # point to grab
[17.22, -5.27, -52.47, -25.75, 89.73, -0.26],
]
@ -167,12 +167,12 @@ class Object_detect(Movement):
time.sleep(0.5)
# print(tmp)
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, 89.56, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
time.sleep(3)
self.pub_marker(self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
self.mc.send_coords(self.move_coords[color], 25, 1)
self.mc.send_coords(self.move_coords[color], 100, 1)
self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color][1]/1000.0, self.move_coords[color][2]/1000.0)
time.sleep(3)
@ -210,7 +210,7 @@ class Object_detect(Movement):
if "dev" in self.robot_raspi:
self.mc = MyCobot(self.robot_raspi, 115200)
self.pump_off()
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
time.sleep(2.5)
# draw aruco

4
mycobot_ai/aikit_320_pi/scripts/aikit_encode.py
View file

@ -137,7 +137,7 @@ class Detect_marker(Movement):
time.sleep(0.5)
# print(tmp)
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, 89.56, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
time.sleep(3)
self.mc.send_coords(coords[color], 100, 1) # coords[1] 为A分拣区，coords[2] 为B分拣区, coords[3] 为C分拣区，coords[4] 为D分拣区
@ -176,7 +176,7 @@ class Detect_marker(Movement):
if "dev" in self.robot_raspi:
self.mc = MyCobot(self.robot_raspi, 115200)
self.pub_pump(False)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
time.sleep(2.5)

4
mycobot_ai/aikit_320_pi/scripts/aikit_img.py
View file

@ -150,7 +150,7 @@ class Object_detect(Movement):
time.sleep(0.5)
# print(tmp)
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, 89.56, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
time.sleep(3)
@ -187,7 +187,7 @@ class Object_detect(Movement):
if "dev" in self.robot_raspi:
self.mc = MyCobot(self.robot_raspi, 115200)
self.gpio_status(False)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
time.sleep(2.5)

4
mycobot_ai/aikit_320_pi/scripts/aikit_shape.py
View file

@ -153,7 +153,7 @@ class Object_detect(Movement):
time.sleep(0.5)
# print(tmp)
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, 89.56, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
time.sleep(3)
self.pub_marker(self.move_coords[2][0]/1000.0, self.move_coords[2][1]/1000.0, self.move_coords[2][2]/1000.0)
@ -197,7 +197,7 @@ class Object_detect(Movement):
if "dev" in self.robot_raspi:
self.mc = MyCobot(self.robot_raspi, 115200)
self.gpio_status(False)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 2.02, 9.58], 20)
self.mc.send_angles([0.61, 45.87, -92.37, -41.3, 89.56, 9.58], 20)
time.sleep(2.5)
# draw aruco