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https://github.com/elephantrobotics/mycobot_ros.git
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101 lines
2.5 KiB
Python
Executable file
101 lines
2.5 KiB
Python
Executable file
from pymycobot.mira import Mira
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import os
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import time
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port = "/dev/ttyUSB0"
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mc = Mira(port)
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mc.go_zero()
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radians_chushi= [0.34, 0, 0]
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chushi_angles = [19.48, 0.0, 0.0]
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chishi_coords = [165.93, 58.69, 120.0]
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radians_pre = [0.0, 0.09, 0.53]
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pre_angles = [0.0, 5.16, 30.37]
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pre_coords = [170.33, 0.0, 58.84]
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radians_zhuaqu = [0.0, 0.33, 0.87]
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zhuaqu_angles = [0.0, 18.91, 49.85]
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zhuaqu_coords = [172.26, 0.0, 21.8]
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radians_qilai = [0.0, 0.0, 0.0]
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qilai_angles = [0.0, 0.0, 0.0]
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qilai_coords = [176.0, 0.0, 120.0]
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move_blue = [-1.01, 0.22, 0.0]
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blue_angles = [-57.87, 12.61, 0.0]
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blue_coords = [107.54, -171.23, 117.11]
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move_gray = [-1.61, 0.0, 0.0]
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gray_angles = [-92.25, 0.0, 0.0]
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gray_coords = [-6.91, -175.86, 120.0]
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move_green = [0.48, 0.61, 0]
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green_angles = [27.5, 34.95, 0.0]
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green_coords = [217.09, 113.01, 98.36]
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move_red = [0.81, 0.0, 0.0]
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red_angles = [46.41, 0.0, 0.0]
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red_coords = [121.35, 127.48, 120.0]
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radians_chushi= [0.34, 0, 0]
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chushi_angles = [19.48, 0.0, 0.0]
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chishi_coords = [165.93, 58.69, 120.0]
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# mc.set_radians(radians_chushi, 50)
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# time.sleep(3)
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# print('chushi_angles:', mc.get_angles_info())
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# print('chishi_coords:', mc.get_coords_info())
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# mc.set_radians(radians_pre, 50)
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# time.sleep(3)
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# print('pre_angles:', mc.get_angles_info())
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# print('pre_coords:', mc.get_coords_info())
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# mc.set_radians(radians_zhuaqu, 50)
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# time.sleep(3)
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# print('zhuaqu_angles:', mc.get_angles_info())
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# print('zhuaqu_coords:', mc.get_coords_info())
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# # mc.set_gpio_state(0)
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# mc.set_radians(radians_qilai, 50)
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# time.sleep(3)
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# print('qilai_angles:', mc.get_angles_info())
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# print('qilai_coords:', mc.get_coords_info())
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# mc.set_radians(move_blue, 50)
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# time.sleep(4)
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# print('blue_angles:', mc.get_angles_info())
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# print('blue_coords:', mc.get_coords_info())
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# # mc.set_gpio_state(1)
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# time.sleep(2)
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# mc.set_radians(radians_chushi, 50)
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# time.sleep(5)
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# print('chushi_angles:', mc.get_angles_info())
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# print('chishi_coords:', mc.get_coords_info())
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# mc.set_radians(move_gray, 50)
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# time.sleep(6)
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# print('gray_angles:', mc.get_angles_info())
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# print('gray_coords:', mc.get_coords_info())
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# mc.set_radians(radians_chushi, 50)
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# time.sleep(2)
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mc.set_radians(move_green, 50)
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time.sleep(4)
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print('green_angles:', mc.get_angles_info())
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print('green_coords:', mc.get_coords_info())
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mc.set_radians(radians_chushi, 50)
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time.sleep(2)
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mc.set_radians(move_red, 50)
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time.sleep(4)
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print('red_angles:', mc.get_angles_info())
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print('red_coords:', mc.get_coords_info())
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mc.set_radians(radians_chushi, 50)
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