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https://github.com/elephantrobotics/mycobot_ros.git
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62 lines
1.7 KiB
Python
Executable file
62 lines
1.7 KiB
Python
Executable file
#!/usr/bin/env python2
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# -*- coding:utf-8 -*-
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from pymycobot.mycobot import MyCobot
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from pymycobot.mypalletizer import MyPalletizer
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from pymycobot.genre import Angle
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from pymycobot import PI_PORT, PI_BAUD # 当使用树莓派版本的mycobot时，可以引用这两个变量进行MyCobot初始化
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import time,os
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mc = MyCobot(os.popen("ls /dev/ttyUSB*").readline()[:-1], 115200)
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# mc = MyCobot(os.popen("ls /dev/ttyACM*").readline()[:-1], 115200)
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# mc = MyCobot("/dev/ttyAMA0", 1000000)
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# mc.send_angles([0,0,0,0,90,0],20) # coords:[95.6, 0.5, 166.4, 179.12, -0.18, 179.46]
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# time.sleep(4)
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# mc.send_angles([-3.25, 17.22, -32.51, 2.37, 92.54, -36.21],30)
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# mc.send_coords([92.3, -104.9, 211.4, -179.6, 28.91, 131.29], 30, 0) # above the red bucket
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# time.sleep(4)
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# mc.send_coords([165.0, -93.6, 201.4, -173.43, 46.23, 160.65],30,0) # above the green bucket
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# time.sleep(4)
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# mc.send_coords([88.1, 126.3, 193.4, 162.15, 2.23, 156.02],30,0) # above the blue bucket
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# time.sleep(4)
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# mc.send_coords([-5.4, 120.6, 204.6, 162.66, -6.96, 159.93],30,0) # above the gray bucket
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# time.sleep(3)
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# mc.send_coords([80, 0, 130, 0 ,0, 0], 30, 0)
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# mc.send_angle(3,0,25)
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# print(mc.get_angles())
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# print(mc.get_coords())
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# mc.release_all_servos()
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# while True:
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# print("angles:%s"% mc.get_angles())
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# print("coords:%s"% mc.get_coords())
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# print("\n")
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# mc.release_all_servos()
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# mc.release_servo(1)
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# mc.set_servo_calibration(1)
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# mc.set_servo_calibration(2)
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# mc.set_servo_calibration(3)
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# mc.set_servo_calibration(4)
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# mc.set_servo_calibration(5)
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# mc.set_servo_calibration(6)
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mc.set_basic_output(2, 0)
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mc.set_basic_output(5, 0)
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time.sleep(3)
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mc.set_basic_output(2, 1)
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mc.set_basic_output(5, 1)
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time.sleep(3)
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# print(mc.get_basic_input(2))
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# print(mc.get_basic_input(5))
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