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2929ss 2022-07-25 17:16:40 +08:00
parent 52540c311d
commit f8d2b07193
3 changed files with 18 additions and 13 deletions
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5
mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_color.py
View file

@ -159,15 +159,18 @@ class Object_detect(Movement):
print(color)
self.mc.send_angles(self.move_angles[0], 30)
time.sleep(4)
# self.pub_marker(self.move_angles[0])
# send coordinates to move 270
self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
time.sleep(3)
self.pub_marker(x/1000.0, y/1000.0, 140/1000.0)
self.mc.send_coords([x, y, 95, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
# self.mc.send_coords([x, y, 90, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
time.sleep(3)
self.pub_marker(x/1000.0, y/1000.0, 90/1000.0)
# open pump
if "dev" in self.robot_m5:

20
mycobot_ai/ai_mecharm_270/scripts/combine_detect_obj_img_folder_opt.py
View file

@ -178,14 +178,16 @@ class Object_detect(Movement):
def move(self, x, y, color):
# send Angle to move 270
self.mc.send_angles(self.move_angles[0], 30)
time.sleep(4)
time.sleep(7)
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
self.mc.send_coords([x, y, 140, 179.12, -0.18, 179.46], 30, 0)
time.sleep(4)
time.sleep(7)
print("ntm")
self.mc.send_coords([x, y, 92, 179.12, -0.18, 179.46], 30, 0) # -178.77, -2.69, 40.15
time.sleep(4)
time.sleep(6)
# open pump
if "dev" in self.robot_m5:
@ -204,14 +206,14 @@ class Object_detect(Movement):
# print(tmp)
self.mc.send_angles([tmp[0], 17.22, -32.51, tmp[3], 97, tmp[5]],30)
time.sleep(3)
time.sleep(6)
self.mc.send_coords(self.move_coords[color], 30, 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)
time.sleep(6)
# close pump
if "dev" in self.robot_m5:
@ -221,7 +223,7 @@ class Object_detect(Movement):
time.sleep(6)
self.mc.send_angles(self.move_angles[1], 30)
time.sleep(1.5)
time.sleep(6)
# decide whether grab cube
def decide_move(self, x, y, color):
@ -431,7 +433,7 @@ class Object_detect(Movement):
# The path to save the image folder
def parse_folder(folder):
restore = []
path = ''
# path = ''
path1 = '/home/ubuntu/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mecharm_270/' + folder
path2 = '/home/h/catkin_ws/src/mycobot_ros/mycobot_ai/ai_mecharm_270/' + folder

6
mycobot_ai/ai_mecharm_270/scripts/test.py
View file

@ -13,8 +13,8 @@ mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200)
# mc = MyCobot(PI_PORT,PI_BAUD)
mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
time.sleep(4)
# mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
# time.sleep(4)
# mc.send_angles([-3.25, 17.22, -32.51, 2.37, 92.54, -36.21],30)
@ -30,7 +30,7 @@ time.sleep(4)
# mc.send_coords([-5.4, 120.6, 204.6, 162.66, -6.96, 159.93],30,0) # above the gray bucket
# time.sleep(3)
# mc.send_coords([80, 0, 130, 0 ,0, 0], 30, 0)
mc.send_coords([80, 0, 92, 179.12, -0.18, 179.46], 30, 0)
# mc.send_angle(3,0,25)
# print(mc.get_angles())