mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
61 lines
1.7 KiB
Python
Executable file
61 lines
1.7 KiB
Python
Executable file
#!/usr/bin/env python3
|
||
# encoding:utf-8
|
||
from pymycobot import MyArmM
|
||
from sensor_msgs.msg import JointState
|
||
import rospy
|
||
from math import pi
|
||
import time
|
||
# 1：[-174, 167]
|
||
# 2:[-92, 93]
|
||
# 3:[-91,103]
|
||
# 4:[-170, 170]
|
||
# 5:[-96,89]
|
||
# 6:[-170,170]
|
||
|
||
global mam
|
||
mam = MyArmM('/dev/ttyACM0', debug=False)
|
||
for i in range(8):
|
||
mam.set_servo_enabled(i, 1)
|
||
time.sleep(0.2)
|
||
|
||
def callback_fun(msg): # 回调函数
|
||
# print(type(msg.position))
|
||
angle = list(msg.position)
|
||
|
||
rospy.loginfo("The Subscriber Data:%s", angle)
|
||
|
||
set_angle(angle, 20)
|
||
# for i in range(6):
|
||
# mam.set_joint_angle(i, angle[i]*180/pi, 50) # 角度直接控制
|
||
# set_angle_by_encoder(i, angle[i]*180/pi, 50) # 电位值控制
|
||
|
||
def main():
|
||
rospy.init_node("pub_rviz_data", anonymous=True)
|
||
rospy.Subscriber('/joint_states', JointState, callback_fun)
|
||
rospy.spin()
|
||
|
||
def set_angle(angles, speed):
|
||
# 弧度转角度
|
||
angle = [-int(a*180/pi) for a in angles]
|
||
joint_id = {0:1, 1:2, 2:3, 3:4, 4:5, 5:6}
|
||
|
||
for i in range(6):
|
||
# if joint_id[i] == 2 or joint_id[i] == 5:
|
||
# angle[i] *= -1
|
||
mam.set_joint_angle(joint_id[i], -angle[i], 20)
|
||
|
||
# def set_angle_by_encoder(servo_id, angle, speed): # 输入角度 通过电位值控制机器人
|
||
# # 1:left 2:right 3:left 4:left 5:left 6:right 7:left
|
||
# joint_id = {0:1, 1:2, 2:4, 3:5, 4:6, 5:7}
|
||
# # right_axis = [0, ]
|
||
# servo_id = joint_id[servo_id]
|
||
# if servo_id == 2 or servo_id == 6:
|
||
# pass
|
||
# else:
|
||
# angle *= -1
|
||
# encoder = int(2024 + 2024/180*angle)
|
||
# # encoder =
|
||
# mam.set_servo_encoder(servo_id, encoder, speed)
|
||
|
||
if __name__ == '__main__':
|
||
main()
|