mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
99 lines
No EOL
2.8 KiB
Python
Executable file
99 lines
No EOL
2.8 KiB
Python
Executable file
# -*- coding: utf-8 -*-
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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
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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 = '3.6.0'
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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.mycobot320 import MyCobot320
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mc = MyCobot320("/dev/ttyACM0", 115200)
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# 通过传递角度参数，让机械臂每个关节移动到对应[0, 0, 0, 0, 0, 0]的位置
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mc.send_angles([0, 0, 0, 0, 0, 0], 50)
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# 设置等待时间，确保机械臂已经到达指定位置
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# time.sleep(2.5)
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# 让关节1移动到90这个位置
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# mc.send_angle(Angle.J1.value, 90, 50)
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# 设置等待时间，确保机械臂已经到达指定位置
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# mc.send_coords([73.2, -85.9, 495.7, -94.26, -30.17, -84.42],20,0)
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# time.sleep(2)
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# mc.send_angles([2.19, 0.35, -3.42, -0.61, 1.23, -30.32],20)
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# num=0
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# while num<5:
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# print('-------------------->1')
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# print(mc.get_angles())
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# time.sleep(1)
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# print('--------------------->2')
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# print(mc.get_coords())
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# print('----------------->3')
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# time.sleep(1)
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# print(mc.get_radians())
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# num+=1
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# time.sleep(2)
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# # 以下代码可以让机械臂左右摇摆
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# # 设置循环次数
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# num=5
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# while num > 0:
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# # 让关节2移动到50这个位置
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# mc.send_angle(Angle.J2.value, 50, 50)
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# # 设置等待时间，确保机械臂已经到达指定位置
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# time.sleep(1.5)
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# # 让关节2移动到-50这个位置
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# mc.send_angle(Angle.J2.value, -50, 50)
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# # 设置等待时间，确保机械臂已经到达指定位置
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# time.sleep(1.5)
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# num
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mc.set_gripper_mode(0)
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# print('11')
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# time.sleep(1)
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# mc.set_gripper_value(50, 50)
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# time.sleep(1)
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# print(mc.get_angles())
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mc.set_gripper_state(0,100)
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time.sleep(0.05)
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angles = [[-27.64, 15.2, -53.34, -52.47, 88.76, 99.05]]
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coords = [189.7, -350.6, 334.0, -170.85, -0.86, -91.24]
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mc.set_color(0, 255, 0)
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for i in range(4):
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coords[1] += 150
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# mc.send_coords(coords, 100, 1)
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time.sleep(2)
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mc.set_gripper_state(0,100)
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time.sleep(0.05)
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coords[2] -= 155
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# mc.send_coords(coords,100,1)
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print(mc.get_angles())
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time.sleep(3)
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mc.set_gripper_state(1,100)
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time.sleep(1)
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coords[2] += 155
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# mc.send_coords(coords,100,1)
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time.sleep(2)
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coords[2] -= 155
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# mc.send_coords(coords,100,1)
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time.sleep(2)
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mc.set_gripper_state(0,100) |