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https://github.com/elephantrobotics/mycobot_ros.git
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51 lines
No EOL
1.7 KiB
Python
51 lines
No EOL
1.7 KiB
Python
import time
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import pymycobot
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from packaging import version
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# min low version require
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MIN_REQUIRE_VERSION = '3.6.1'
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current_verison = pymycobot.__version__
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print('current pymycobot library version: {}'.format(current_verison))
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if version.parse(current_verison) < version.parse(MIN_REQUIRE_VERSION):
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raise RuntimeError('The version of pymycobot library must be greater than {} or higher. The current version is {}. Please upgrade the library version.'.format(MIN_REQUIRE_VERSION, current_verison))
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else:
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print('pymycobot library version meets the requirements!')
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from pymycobot import MyCobot280
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from pymycobot import *
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import time
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import datetime
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m = MyCobot280('/dev/ttyUSB0', 115200)
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time.sleep(2)
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delay_time = 0.1
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run_delay_time = 1
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angles = [0,0,0,0,0,0]
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coords = [0,0,0,0,0,0]
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angle_loss_count = 0
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coord_loss_count = 0
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total_count = 0
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send_angles = [[0,0,0,0,0,0], [0,0,0,0,20,20]]
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sp = 50
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# m = MyCobot("com64", 1000000)
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# time.sleep(2) #open port,need wait
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# print(m.get_radians())
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while 1:
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for i in range(len(send_angles)) :
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angles = m.get_angles()
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if (angles is None):
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angle_loss_count = angle_loss_count + 1
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#angles = m.get_angles()
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time.sleep(delay_time)
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coords = m.get_coords()
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if (coords is None):
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coord_loss_count = coord_loss_count + 1
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#coords = m.get_coords()
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time.sleep(delay_time)
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m.send_angles(send_angles[i], sp)
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time.sleep(run_delay_time)
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total_count = total_count + 1
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now = datetime.datetime.now()
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print(now, "angles, coords ", angles, coords, angle_loss_count, coord_loss_count, total_count)
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time.sleep(delay_time) |