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https://github.com/elephantrobotics/mycobot_ros.git
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71 lines
2 KiB
Python
71 lines
2 KiB
Python
#!/usr/bin/env python
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'''
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This package need `pymycobot`.
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This file for test the API if right.
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Just can run in Linux.
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'''
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import time, random, subprocess
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from pymycobot.mycobot import MyCobot
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from pymycobot.genre import Angle, Coord
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if __name__ == '__main__':
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sys_ = subprocess.check_output(['uname'],
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shell=True).decode()
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if not sys_ == 'Linux':
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print('This script just can run on Linux.')
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exit(0)
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port = subprocess.check_output(['echo -n /dev/ttyUSB*'],
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shell=True).decode()
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mycobot = MyCobot(port)
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print('Start check api\n')
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print('::get_angles()')
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print('==> degrees: {}\n'.format(mycobot.get_angles()))
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time.sleep(0.5)
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print('::get_radians()')
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print('==> radians: {}\n'.format(mycobot.get_radians()))
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time.sleep(0.5)
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print('::send_angles()')
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mycobot.send_angles([0,0,0,0,0,0], 80)
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print('==> set angles [0,0,0,0,0,0], speed 80\n')
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print('Is moving: {}'.format(mycobot.is_moving()))
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time.sleep(3)
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print('::send_radians')
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mycobot.send_radians([1,1,1,1,1,1], 70)
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print('==> set raidans [1,1,1,1,1,1], speed 70\n')
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time.sleep(1.5)
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print('::send_angle()')
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mycobot.send_angle(Angle.J2.value, 10, 50)
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print('==> angle: joint2, degree: 10, speed: 50\n')
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time.sleep(1)
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print('::get_coords()')
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print('==> coords {}\n'.format(mycobot.get_coords()))
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time.sleep(0.5)
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print('::send_coords()')
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coord_list = [160, 160, 160, 0, 0, 0]
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mycobot.send_coords(coord_list, 70, 0)
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print('==> send coords [160,160,160,0,0,0], speed 70, mode 0\n')
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time.sleep(3.0)
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print(mycobot.is_in_position(coord_list, 1))
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time.sleep(1)
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print('::send_coord()')
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mycobot.send_coord(Coord.X.value, -40, 70)
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print('==> send coord id: X, coord value: -40, speed: 70\n')
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time.sleep(2)
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print('::release_all_servos()')
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mycobot.release_all_servos()
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print('==> into free moving mode.')
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print('=== check end <==\n')
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