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https://github.com/elephantrobotics/mycobot_ros.git
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69 lines
1.9 KiB
Python
69 lines
1.9 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"], 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*"], 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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