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https://github.com/elephantrobotics/mycobot_ros.git
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54 lines
No EOL
1.5 KiB
Python
Executable file
54 lines
No EOL
1.5 KiB
Python
Executable file
# -*- coding: utf-8 -*-
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from pymycobot.mycobot import MyCobot
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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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mc = MyCobot("/dev/ttyUSB0", 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 |