├── .github └── ISSUE_TEMPLATE │ └── bug_report.md ├── .gitignore ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── LICENSE ├── MANIFEST.in ├── README.md ├── demo ├── Client.py ├── Mercury_A1_demo │ └── README.md ├── README.md ├── SOCT_REMADE.md ├── Server.py ├── Server_260.py ├── Server_270.py ├── Server_280.py ├── Server_280_RDKX5.py ├── Server_280_RISCV.py ├── Server_320.py ├── Server_A1.py ├── Server_A1_2.py ├── Server_Pro630.py ├── Server_X1_close_loop.py ├── basic.py ├── change_pid.py ├── drag_trial_teaching.py ├── drag_trial_teaching_cobotx.py ├── drag_trial_teaching_myArm.py ├── get_port.py ├── gripper.py ├── gripper_set.py ├── handle_control │ ├── README.md │ ├── arm_profile │ │ └── mycobot_280.json │ ├── handle.jpg │ ├── joy_control.py │ ├── myCobot280_handle_control.py │ ├── myCobot280_handle_control_old.py │ ├── myarm_handle_control.py │ └── requirements.txt ├── loop.py ├── myArm_M ├── myArm_M&C_demo │ ├── README.md │ ├── README_ZH.md │ ├── get_date.py │ ├── main.py │ ├── myarm_c.py │ ├── myarm_m.py │ ├── requirement.txt │ ├── resources │ │ ├── app.png │ │ ├── app_1.png │ │ ├── app_2.png │ │ └── mystudio.ico │ ├── ui │ │ ├── bt.py │ │ ├── tool.ui │ │ └── tool_ui.py │ └── utils.py ├── myArm_M&C_demo_v1.1 │ ├── README.md │ ├── README_ZH.md │ ├── get_date.py │ ├── main.py │ ├── myarm_c.py │ ├── myarm_m.py │ ├── requirement.txt │ ├── resources │ │ ├── app.png │ │ ├── app_1.png │ │ ├── app_2.png │ │ └── mystudio.ico │ └── ui │ │ ├── bt.py │ │ ├── tool.ui │ │ └── tool_ui.py ├── myArm_demo │ ├── .xiaqi.py.swp │ ├── all_run_test.py │ ├── dexterous_hands.py │ ├── four_piece_chess.py │ ├── gripper_aikit_v2.py │ ├── hand_gripper.py │ ├── myarm_agv_demo.py │ ├── myarm_handle_control.py │ ├── pump_aikit_v2.py │ ├── pump_test.py │ ├── rgb_led.py │ ├── rgb_test.py │ ├── space_arm_angle.py │ ├── start_run_demo.py │ ├── wave_hand.py │ └── xiaqi.py ├── myCobot_280_demo │ ├── 280_draw_gcode.py │ ├── five_point_star.nc │ ├── square.nc │ └── triangle.nc ├── myCobot_320_demo │ ├── drag_trial_teaching_myCobot_320.py │ ├── myCobot_320_servo_info.py │ ├── myCobot_320_testtool_M5version_v1.0_20220623.py │ └── myCobot_320_testtool_PIversion_v1.0_20220623.py ├── mybuddy_demo │ ├── drag_trial_teaching_mubuddy.py │ ├── drag_trial_teaching_sync_mubuddy.py │ ├── emoticon.md │ ├── emoticon.zip │ ├── gpio_test.py │ ├── myBuddy_Action │ │ ├── ChewingGum.py │ │ ├── ChewingGum.txt │ │ ├── ChewingGum_2.txt │ │ ├── ChewingGum_3.txt │ │ ├── README.md │ │ ├── catch_the_ball.py │ │ ├── catch_the_ball.txt │ │ ├── comeOn.py │ │ ├── comeOn.txt │ │ ├── dack.py │ │ ├── dance.py │ │ ├── myBuddy_conductor.json │ │ ├── pass_the_ball.py │ │ ├── pass_the_ball.txt │ │ ├── petCat.py │ │ ├── petCat.txt │ │ ├── piano.py │ │ ├── play_ball_cooperatively.py │ │ ├── play_ball_cooperatively.txt │ │ ├── praise.py │ │ ├── praise.txt │ │ ├── reject.py │ │ ├── reject.txt │ │ ├── symphony.py │ │ ├── symphony.txt │ │ ├── thanHeart.py │ │ └── thanHeart.txt │ ├── myBuddy_gpio_test.py │ ├── mybuddy_change_pid.py │ ├── mybuddy_emoticon_demo.py │ ├── mybuddy_encoders_test.py │ └── mybuddy_send_angles_auto.py ├── mybuddy_emo.py ├── mycobot_pi_bluetooth │ ├── README.md │ ├── __init__.py │ ├── app.py │ ├── bt.py │ ├── bt_client.py │ ├── example-gatt-client.py │ ├── example_advertisement.py │ ├── example_gatt_server.py │ ├── timezone.py │ └── uart_peripheral_serial.py ├── pid_read_write.py ├── port_setup.py ├── pro630_3D_Kit_Code │ ├── .txt │ ├── HandInEyeCailb.py │ ├── Plane_grabbing.py │ ├── demo.py │ ├── robot_test.py │ └── test.py ├── reader.py ├── send_angle.py ├── server_400.py ├── server_A1_close_loop.py ├── sync.py ├── tools │ ├── pump_demo_M5.py │ └── pump_demo_PI.py └── ultraArm_P340_demo │ ├── 3-angles_control.py │ ├── 4-coords_control.py │ ├── 5-Palletizing_handling.py │ ├── 6-laser_use.py │ ├── 8-gripper_use.py │ └── 9-pump_use.py ├── docs ├── MechArm_270_en.md ├── MechArm_270_zh.md ├── Mercury_API.md ├── Mercury_X1_Chassis_en.md ├── Mercury_X1_Chassis_zh.md ├── MyAGVPro_en.md ├── MyAGVPro_zh.md ├── MyBuddy_en.md ├── MyBuddy_zh.md ├── MyCobot_280_RDKX5_en.md ├── MyCobot_280_RDKX5_zh.md ├── MyCobot_280_en.md ├── MyCobot_280_zh.md ├── MyCobot_320_en.md ├── MyCobot_320_zh.md ├── MyPalletizer_260_en.md ├── MyPalletizer_260_zh.md ├── README.md ├── myAGV_en.md ├── myAGV_zh.md ├── myArm_M&C_en.md ├── myArm_M&C_zh.md ├── mybuddy_emoticon_en.md ├── mybuddy_emoticon_zh.md ├── pro630_esp32_en.md ├── pro630_esp32_zh.md ├── ultraArm_P340_en.md └── ultraArm_P340_zh.md ├── f3-min2.jpg ├── pymycobot ├── Interface.py ├── __init__.py ├── bluet.py ├── close_loop.py ├── common.py ├── conveyor_api.py ├── dualcobotx.py ├── elephantrobot.py ├── end_control.py ├── error.py ├── exoskeleton.py ├── exoskeletonsocket.py ├── generate.py ├── genre.py ├── log.py ├── mecharm.py ├── mecharm270.py ├── mecharmsocket.py ├── mercury.py ├── mercury_api.py ├── mercury_arms_socket.py ├── mercury_ros_api.py ├── mercurychassis.py ├── mercurychassis_api.py ├── mercurysocket.py ├── myagv.py ├── myagvapi.py ├── myagvpro.py ├── myagvpro_bluetooth.py ├── myagvpro_socket.py ├── myarm.py ├── myarm_api.py ├── myarmc.py ├── myarmm.py ├── myarmm_control.py ├── myarmsocket.py ├── mybuddy.py ├── mybuddybluetooth.py ├── mybuddyemoticon.py ├── mybuddysocket.py ├── mycobot.py ├── mycobot280.py ├── mycobot280rdkx5.py ├── mycobot280socket.py ├── mycobot320.py ├── mycobot320socket.py ├── mycobotpro630.py ├── mycobotsocket.py ├── mypalletizer.py ├── mypalletizer260.py ├── mypalletizersocket.py ├── pro400.py ├── pro400client.py ├── pro630.py ├── pro630client.py ├── pro630common.py ├── progripper.py ├── protocol_packet_handler.py ├── public.py ├── robot_info.py ├── sms.py ├── tool_coords.py ├── ultraArm.py ├── ultraArmP340.py └── utils.py ├── requirements.txt ├── setup.py └── tests ├── __init__.py ├── conftest.py ├── rasp_myArm_test_gui.py ├── rasp_mycobot_test_gui.py ├── rasp_mypall_test_gui.py ├── special_angles.py ├── test_api.py ├── test_generator.py ├── test_socket.py └── test_utils.py /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | A clear and concise description of what the bug is. 12 | 13 | **To Reproduce** 14 | Steps to reproduce the behavior: 15 | 1. Go to '...' 16 | 2. Click on '....' 17 | 3. Scroll down to '....' 18 | 4. See error 19 | 20 | **Expected behavior** 21 | A clear and concise description of what you expected to happen. 22 | 23 | **Screenshots** 24 | If applicable, add screenshots to help explain your problem. 25 | 26 | **Desktop (please complete the following information):** 27 | - OS: [e.g. iOS] 28 | - Browser [e.g. chrome, safari] 29 | - Version [e.g. 22] 30 | 31 | **Smartphone (please complete the following information):** 32 | - Device: [e.g. iPhone6] 33 | - OS: [e.g. iOS8.1] 34 | - Browser [e.g. stock browser, safari] 35 | - Version [e.g. 22] 36 | 37 | **Additional context** 38 | Add any other context about the problem here. 39 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | dist/ 3 | pymycobot.egg-info/ 4 | 5 | log 6 | pymycobot/__pycache__/ 7 | tests/__pycache__/ 8 | 9 | test*.py 10 | record.txt 11 | test_test.py 12 | 13 | .DS_Store 14 | .history 15 | *.bat 16 | .VSCodeCounter 17 | .vscode/ 18 | *.sh 19 | 20 | *.pyc 21 | __pycache__/port.cpython-39.pyc 22 | demo/__pycache__/port.cpython-39.pyc 23 | demo/__pycache__/port_setup.cpython-39.pyc 24 | .idea 25 | .vscode 26 | *.log 27 | .venv/ 28 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | 2 | MIT License 3 | 4 | Copyright () 2020 Elephant Robotics 5 | 6 | Permission is hereby granted, free of charge, to any person obtaining a copy 7 | of this software and associated documentation files (the "Software"), to deal 8 | in the Software without restriction, including without limitation the rights 9 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 10 | copies of the Software, and to permit persons to whom the Software is 11 | furnished to do so, subject to the following conditions: 12 | 13 | The above copyright notice and this permission notice shall be included in all 14 | copies or substantial portions of the Software. 15 | 16 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 18 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 19 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 20 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 21 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 22 | SOFTWARE. 23 | -------------------------------------------------------------------------------- /MANIFEST.in: -------------------------------------------------------------------------------- 1 | include *.txt 2 | include LICENSE 3 | include README.md 4 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # This is Python API for ElephantRobotics product 2 | 3 | ![Python 2.7](https://img.shields.io/badge/Python-v2.7%5E-green?logo=python) 4 | ![Python 3](https://img.shields.io/badge/Python-v3%5E-green?logo=python) 5 | [![pypi_version](https://img.shields.io/pypi/v/pymycobot?label=pypi)](https://pypi.org/project/pigit) 6 | 7 | This is a python API for serial communication with mycobot and controlling it. 8 | 9 | [![home](./f3-min2.jpg)](https://www.elephantrobotics.com/en/myCobot-en/) 10 | 11 | ## Installation 12 | 13 | **Notes**: 14 | 15 | > Make sure that `Atom` is flashed into the top Atom, `Transponder` is flashed into the base Basic.
16 | > The firmware `Atom` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)
17 | > You also can use myStudio to flash them, myStudio address: [https://github.com/elephantrobotics/myStudio/releases](https://github.com/elephantrobotics/myStudio/releases) 18 | 19 | ### Pip 20 | 21 | ```bash 22 | pip install pymycobot --upgrade 23 | ``` 24 | 25 | 34 | 35 | ### Source code 36 | 37 | ```bash 38 | git clone https://github.com/elephantrobotics/pymycobot.git 39 | cd /pymycobot 40 | # Install 41 | [sudo] python2 setup.py install 42 | # or 43 | [sudo] python3 setup.py install 44 | ``` 45 | 46 | Or the more modern form: 47 | 48 | ```bash 49 | # Install 50 | pip install . 51 | # Uninstall 52 | pip uninstall . 53 | ``` 54 | 55 | ## Usage: 56 | 57 | ```python 58 | # for mycobot 280 machine 59 | from pymycobot import MyCobot280 60 | from pymycobot import MyCobot280Socket 61 | # for mycobot 320 machine 62 | from pymycobot import MyCobot320 63 | from pymycobot import MyCobot320Socket 64 | # for mecharm 270 machine 65 | from pymycobot import MechArm270 66 | from pymycobot import MechArmSocket 67 | # for mypalletizer 260 machine 68 | from pymycobot import MyPalletizer260 69 | from pymycobot import MyPalletizerSocket 70 | # for ultraArm P340 machine 71 | from pymycobot import ultraArmP340 72 | ``` 73 | 74 | The [`demo`](./demo) directory stores some test case files. 75 | 76 | You can find out which interfaces pymycobot provides in `pymycobot/README.md`. 77 | 78 | Please go to [here](./docs/README.md). 79 | 80 | 81 | > Note: Version v3.6.0 differentiates interfaces by model. Starting from this version, the MyCobot class will no longer be maintained. For new usage, please refer to the document: 82 | 83 | ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg) ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg) 84 | 85 | [MyCobot 280 API说明](./docs/MyCobot_280_zh.md) | [MyCobot 280 API Description](./docs/MyCobot_280_en.md) 86 | 87 | [MyCobot 320 API说明](./docs/MyCobot_320_zh.md) | [MyCobot 320 API Description](./docs/MyCobot_320_en.md) 88 | 89 | [MechArm 270 API说明](./docs/MechArm_270_zh.md) | [MechArm 270 API Description](./docs/MechArm_270_en.md) 90 | 91 | [MyPalletizer 260 API说明](./docs/MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./docs/MyPalletizer_260_en.md) 92 | 93 | [myAGV API说明](./docs/myAGV_zh.md) | [myAGV API Description](./docs/myAGV_en.md) 94 | 95 | [myArm_M&C API说明](./docs/myArm_M&C_zh.md) | [myArm_M&C API Description](./docs/myArm_M&C_en.md) 96 | 97 | [ultraArm P340 API说明](./docs/ultraArm_P340_zh.md) | [ultraArm P340 API Description](./docs/ultraArm_P340_en.md) 98 | 99 | [MyBuddy API说明](./docs/MyBuddy_zh.md) | [MyBuddy API Description](./docs/MyBuddy_en.md) 100 | 101 | [MyBuddyEmoticon API说明](./docs/mybuddy_emoticon_zh.md) | [MyBuddyEmoticon API Description](./docs/mybuddy_emoticon_en.md) -------------------------------------------------------------------------------- /demo/Client.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyCobot280Socket 2 | 3 | m = MyCobot280Socket("192.168.10.10", "9000") 4 | # connect pi 5 | # m.connect() 6 | print(m.get_coords()) 7 | -------------------------------------------------------------------------------- /demo/Mercury_A1_demo/README.md: -------------------------------------------------------------------------------- 1 | 2 | The A1 mouse control example has been moved to a new project address: https://github.com/elephantrobotics/mercury_A1_case 3 | 4 | 5 | -------------------------------------------------------------------------------- /demo/README.md: -------------------------------------------------------------------------------- 1 | There are some demo files of **pymycobot**. 2 | 3 | 4 | -------------------------------------------------------------------------------- /demo/SOCT_REMADE.md: -------------------------------------------------------------------------------- 1 | # 使用说明 2 | ## 使用说明 3 | * "Client.py"是客户端的样例，使用在你的电脑中运行 4 | * "Servo.py"是服务器端的执行文件，在机械臂中运行 5 | ## 参考内容 6 | * [Socket 使用解析](https://blog.csdn.net/pashanhu6402/article/details/96428887?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522162392592016780357215629%2522%252C%2522scm%2522%253A%252220140713.130102334..%2522%257D&request_id=162392592016780357215629&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2~all~top_positive~default-1-96428887.first_rank_v2_pc_rank_v29&utm_term=socket&spm=1018.2226.3001.4187) 7 | 8 | * [mycobot 使用说明](https://www.elephantrobotics.com/docs/myCobot/) 9 | 10 | * [Scoket 函数解析](https://www.runoob.com/python/python-socket.html) -------------------------------------------------------------------------------- /demo/basic.py: -------------------------------------------------------------------------------- 1 | import time 2 | import os 3 | import sys 4 | from pymycobot.mycobot280 import MyCobot280 5 | from pymycobot.genre import Angle, Coord 6 | 7 | sys.path.append(os.path.dirname(__file__)) 8 | from port_setup import setup 9 | 10 | reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62] 11 | 12 | 13 | def test(mycobot): 14 | print("\nStart check basic options\n") 15 | 16 | mycobot.set_color(255, 255, 0) 17 | print("::set_color() ==> color {}\n".format("255 255 0")) 18 | time.sleep(3) 19 | 20 | angles = [0, 0, 0, 0, 0, 0] 21 | mycobot.send_angles(angles, 100) 22 | print("::send_angles() ==> angles {}, speed 100\n".format(angles)) 23 | time.sleep(3) 24 | 25 | print("::get_angles() ==> degrees: {}\n".format(mycobot.get_angles())) 26 | time.sleep(1) 27 | 28 | mycobot.send_angle(Angle.J1.value, 90, 50) 29 | print("::send_angle() ==> angle: joint1, degree: 90, speed: 50\n") 30 | time.sleep(4) 31 | 32 | radians = [1, 1, 1, 1, 1, 1] 33 | mycobot.send_radians(radians, 100) 34 | print("::send_radians() ==> set radians {}, speed 100\n".format(radians)) 35 | time.sleep(3) 36 | 37 | print("::get_radians() ==> radians: {}\n".format(mycobot.get_radians())) 38 | time.sleep(1) 39 | 40 | coords = [160, 160, 160, 0, 0, 0] 41 | mycobot.send_coords(coords, 70, 0) 42 | print("::send_coords() ==> send coords {}, speed 70, mode 0\n".format(coords)) 43 | time.sleep(3) 44 | 45 | print("::get_coords() ==> coords {}\n".format(mycobot.get_coords())) 46 | time.sleep(0.5) 47 | 48 | mycobot.send_coord(Coord.X.value, -40, 70) 49 | print("::send_coord() ==> send coord id: X, coord value: -40, speed: 70\n") 50 | time.sleep(2) 51 | 52 | print("::set_free_mode()\n") 53 | mycobot.send_angles(reset, 100) 54 | time.sleep(5) 55 | mycobot.release_all_servos() 56 | 57 | print("=== check end ===\n") 58 | 59 | 60 | if __name__ == "__main__": 61 | print( 62 | """ 63 | -------------------------------------------- 64 | | This file will test basic option method: | 65 | | set_led_color() | 66 | | send_angles() | 67 | | get_angles() | 68 | | send_angle() | 69 | | send_radians() | 70 | | get_radians() | 71 | | send_coords() | 72 | | get_coords() | 73 | | send_coord() | 74 | -------------------------------------------- 75 | """ 76 | ) 77 | time.sleep(3) 78 | # port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 79 | # shell=True).decode() 80 | # with open(os.path.dirname(__file__) + "/port.txt") as f: 81 | # port = f.read().strip().replace("\n", "") 82 | # print(port) 83 | mycobot = setup() 84 | test(mycobot) 85 | -------------------------------------------------------------------------------- /demo/change_pid.py: -------------------------------------------------------------------------------- 1 | # coding: utf-8 2 | import time 3 | from turtle import goto 4 | from pymycobot.mycobot280 import MyCobot280 5 | import serial.tools.list_ports 6 | 7 | data_id = [21, 22, 23, 24, 26, 27] 8 | mc = [] 9 | ports = [] 10 | 11 | def setup(): #机械臂检测函数，选择正确的串口 12 | global mc 13 | print("") 14 | 15 | plist = list(serial.tools.list_ports.comports()) 16 | idx = 0 17 | for port in plist: 18 | print("{} : {}".format(idx, port)) 19 | idx += 1 20 | if idx == 0: 21 | print("The connected device was not detected. Please try reconnecting.") 22 | exit(1) 23 | _in = input("\nPlease input 0 - {} to choice, you can choice many like: '2,1,3':".format(idx)) 24 | idxes = _in.split(',') 25 | try: 26 | idxes = [int(i) for i in idxes] 27 | except Exception: 28 | print('Error: Input format error.') 29 | exit(1) 30 | 31 | ports = [str(plist[i]).split(' - ')[0].strip() for i in idxes] 32 | 33 | print(ports) 34 | print("") 35 | 36 | baud = 115200 37 | _baud = input("Please input baud(default:115200):") 38 | try: 39 | baud = int(_baud) 40 | except Exception: 41 | pass 42 | print(baud) 43 | print("") 44 | 45 | for port in ports: 46 | try: 47 | mycobot = MyCobot280(port, baud) 48 | except Exception as e: 49 | print(e) 50 | exit(1) 51 | mc.append(mycobot) 52 | 53 | def change(): 54 | global mc 55 | mode = 1 56 | _mode = input("Please input mode, 1 = high precision, 2 = stabilize (default: 1 ):") 57 | try: 58 | mode = int(_mode) 59 | except Exception: 60 | pass 61 | print(mode) 62 | print("") 63 | 64 | for _mycbot in mc: 65 | print(_mycbot) 66 | for i in range(1,7): 67 | if mode == 1: 68 | data = [10, 0, 1, 0, 3, 3] 69 | elif mode == 2: 70 | if i < 4 : 71 | data = [5, 15, 0, 0, 3, 3] 72 | else: 73 | data = [8, 24, 0, 0, 3, 3] 74 | else: 75 | print("Please set the parameter mode !!!") 76 | goto(change()) 77 | 78 | for j in range(len(data_id)): 79 | _mycbot.set_servo_data(i, data_id[j], data[j]) 80 | time.sleep(0.2) 81 | _data = _mycbot.get_servo_data(i, data_id[j]) 82 | time.sleep(0.2) 83 | if _data == data[j]: 84 | print("Servo motor :" + str(i) + " data_id : " + str(data_id[j]) + " data: " + str(_data) + " modify successfully ") 85 | else: 86 | print("Servo motor :" + str(i) + " data_id : " + str(data_id[j]) + " data: " + str(_data) + " modify error ") 87 | 88 | if __name__ == "__main__": #主函数 89 | setup() 90 | print(mc) 91 | try: 92 | change() 93 | except Exception as e: 94 | print(e) 95 | 96 | 97 | 98 | 99 | -------------------------------------------------------------------------------- /demo/get_port.py: -------------------------------------------------------------------------------- 1 | import serial 2 | import serial.tools.list_ports 3 | import os 4 | 5 | if __name__ == "__main__": 6 | """ 7 | result: 8 | /dev/cu.wlan-debug - n/a 9 | /dev/cu.debug-console - n/a 10 | /dev/cu.Bluetooth-Incoming-Port - n/a 11 | /dev/cu.usbserial-0213245D - CP2104 USB to UART Bridge Controller 12 | 13 | port='/dev/cu.usbserial-0213245D' 14 | """ 15 | plist = list(serial.tools.list_ports.comports()) 16 | idx = 1 17 | for port in plist: 18 | print("{} : {}".format(idx, port)) 19 | idx += 1 20 | 21 | _in = input("\nPlease input 1 - {} to choice:".format(idx - 1)) 22 | port = str(plist[int(_in) - 1]).split(" - ")[0].strip() 23 | print(port) 24 | with open(os.path.dirname(__file__) + "/port.txt", "w") as f: 25 | f.write(port + "\n") 26 | -------------------------------------------------------------------------------- /demo/gripper.py: -------------------------------------------------------------------------------- 1 | import os 2 | import time 3 | import sys 4 | from pymycobot import MyCobot280 5 | 6 | sys.path.append(os.path.dirname(__file__)) 7 | from port_setup import setup 8 | 9 | 10 | def gripper_test(mc): 11 | print("Start check IO part of api\n") 12 | # print() 13 | 14 | flag = mc.is_gripper_moving() 15 | print("Is gripper moving: {}".format(flag)) 16 | time.sleep(1) 17 | 18 | # Set the current position to (2048). 19 | # Use it when you are sure you need it. 20 | # Gripper has been initialized for a long time. Generally, there 21 | # is no need to change the method. 22 | # mc.set_gripper_ini() 23 | 24 | mc.set_encoder(7, 2048) 25 | time.sleep(3) 26 | mc.set_encoder(7, 1300) 27 | time.sleep(3) 28 | 29 | # set_gripper_value has some bug, just can close. 30 | mc.set_gripper_value(2048, 70) 31 | time.sleep(5) 32 | mc.set_gripper_value(1500, 70) 33 | time.sleep(5) 34 | 35 | mc.set_gripper_state(0, 70) 36 | time.sleep(5) 37 | mc.set_gripper_state(1, 70) 38 | time.sleep(5) 39 | 40 | print("") 41 | print(mc.get_gripper_value()) 42 | 43 | 44 | if __name__ == "__main__": 45 | mycobot = setup() 46 | gripper_test(mycobot) 47 | -------------------------------------------------------------------------------- /demo/gripper_set.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | from pymycobot import MyCobot280 3 | import time 4 | 5 | # 需要将串口号更改为电脑实际的串口号，将夹爪张开到最大，再运行此脚本 6 | port = 'com8' 7 | 8 | mc = MyCobot280(port) 9 | 10 | print("零位矫正前当前所在位置: ",mc.get_gripper_value()) 11 | time.sleep(0.1) 12 | mc.set_gripper_calibration() 13 | time.sleep(0.1) 14 | print("零位矫正后当前所在位置（矫正成功夹爪会锁住，并且位置接近100）: ",mc.get_gripper_value()) 15 | time.sleep(0.1) 16 | print("开始夹爪参数更新...") 17 | datas = [10, 0, 1, 150] 18 | address = [21, 22, 23, 16] 19 | current_datas = [] 20 | new_datas = [] 21 | for addr in address: 22 | current_datas.append(mc.get_servo_data(7, addr)) 23 | time.sleep(0.1) 24 | print("当前夹爪参数为: ",current_datas) 25 | for addr in range(len(address)): 26 | mc.set_servo_data(7, address[addr], datas[addr]) 27 | time.sleep(0.1) 28 | for addr in address: 29 | new_datas.append(mc.get_servo_data(7, addr)) 30 | time.sleep(0.1) 31 | print("更新后夹爪参数为: ",new_datas) 32 | 33 | 34 | 35 | 36 | -------------------------------------------------------------------------------- /demo/handle_control/README.md: -------------------------------------------------------------------------------- 1 | # instructions 2 | 3 | ## 1.Connecting devices 4 | 5 | Connect the MyCobot and handle to the computer. 6 | 7 | ## 2.Install required libraries 8 | 9 | Open the terminal, switch the path to this folder, and run the following command。 10 | 11 | ```bash 12 | pip3 install -r requirements.txt 13 | ``` 14 | 15 | ## 3.Modify port number 16 | 17 | Edit the myCobot280_handle_control.py file 18 | 19 | ```python 20 | import pygame 21 | import time 22 | from pymycobot import MyCobot280 23 | import threading 24 | # Change /dev/ttyAMA0 to the port number and rate detected by your computer 25 | mc = MyCobot280("/dev/ttyANA0", 1000000) 26 | ... 27 | ``` 28 | 29 | Finally. run the program. 30 | 31 | ```bash 32 | python3 myCobot280_handle_control.py 33 | ``` 34 | 35 | > Note: After running the program, you must first click the **Right 1** button. Only after the machine reaches the initial point can other operations be performed. 36 | 37 | ![img_en](./handle.jpg) 38 | 39 | The corresponding functions of the handle buttons are as follows: 40 | 41 | - **1**: RX direction coordinate value increases 42 | - **2**: RX direction coordinate value decreases 43 | - **3**: RY direction coordinate value decreases 44 | - **4**: RY direction coordinate value increases 45 | - **5**: X direction coordinate value increases 46 | - **6**: X direction coordinate value decreases 47 | - **7**: Y direction coordinate value decreases 48 | - **8**: Y direction coordinate value increases 49 | - **9**: Z direction coordinate value increases 50 | - **10**: Z direction coordinate value decreases 51 | - **11**: RZ direction coordinate value decreases 52 | - **12**: RZ direction coordinate value increases 53 | 54 | [//]: # (- **13**: Wake up the handle. After the handle is not used for a long time after connection, it will enter sleep mode. You need to press this button to wake up.) 55 | 56 | [//]: # (- **14**: Check the connection status of the machine. The atom LED flashes green three times to indicate that the machine is normal; flashes red three times to indicate that the state is abnormal.) 57 | - **X**: Click the button, open gripper 58 | - **Y**: Click the button, close gripper 59 | - **A**: Click the button, open suction pump 60 | - **B**: Click the button, Shut down the suction pump 61 | - **Left 1**: Press and hold for 2s to initialize the robot to the joint zero state. 62 | - **Left 2**: Press and hold for 2s, the robot stops torque output and relaxes all joints. 63 | - **Right 1**: Press and hold for 2s to initialize the robot to move to the initial point. 64 | - **Right 2**: Press and hold for 2s, the robot turns on the torque output, and all joints are locked 65 | 66 | # 使用说明 67 | 68 | ## 1.连接设备 69 | 70 | 将MyCobot和手柄连接到电脑。 71 | 72 | ## 2.安装所需的包 73 | 74 | 打开终端，切换路径到此文件夹，运行如下指令： 75 | 76 | ```bash 77 | pip3 install -r requirements.txt 78 | ``` 79 | 80 | ## 3.修改端口号 81 | 82 | 编辑 myCobot280_handle_control.py 文件 83 | 84 | ```python 85 | import pygame 86 | import time 87 | from pymycobot import MyCobot280 88 | import threading 89 | # 将/dev/ttyAMA0和1000000修改为你的电脑检测到的实际端口号和波特率 90 | mc = MyCobot280("/dev/ttyAMA0", 1000000) 91 | ... 92 | ``` 93 | 94 | 最后，运行程序即可。 95 | 96 | ```bash 97 | python3 myCobot280_handle_control.py 98 | ``` 99 | 100 | > 注意：在运行程序以后，首先要点击**Right 1**按钮，机器到达初始点位以后，才可以进行其他的操作。 101 | 102 | 手柄按钮对应功能如下： 103 | 104 | - **1**: RX方向坐标值增加 105 | - **2**: RX方向坐标值减小 106 | - **3**: RY方向坐标值减小 107 | - **4**: RY方向坐标值增大 108 | - **5**: X方向坐标值增加 109 | - **6**: X方向坐标值减小 110 | - **7**: Y方向坐标值减小 111 | - **8**: Y方向坐标值增加 112 | - **9**: Z方向坐标值增加 113 | - **10**: Z方向坐标值减小 114 | - **11**: RZ方向坐标值减小 115 | - **12**: RZ方向坐标值增加 116 | 117 | [//]: # (- **13**: 唤醒手柄，手柄连接以后长时间不使用会进入休眠，需要按下此键来唤醒) 118 | 119 | [//]: # (- **14**: 检测机器连接状态，atom LED闪烁绿灯三次表示机器正常，闪烁红灯三次表示状态异常。) 120 | - **X**: 点击按钮，夹爪张开 121 | - **Y**: 点击按钮，夹爪关闭 122 | - **A**: 点击按钮，打开吸泵 123 | - **B**: 点击按钮，关闭吸泵 124 | - **Left 1**: 长按2s，初始化机器人至关节零位状态。 125 | - **Left 2**: 长按2s，机器人停止力矩输出，放松所有关节。 126 | - **Right 1**: 长按2s，初始化机器人至移动初始点位。 127 | - **Right 2**: 长按2s，机器人打开力矩输出，所有关节锁定。 128 | -------------------------------------------------------------------------------- /demo/handle_control/arm_profile/mycobot_280.json: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/handle_control/arm_profile/mycobot_280.json -------------------------------------------------------------------------------- /demo/handle_control/handle.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/handle_control/handle.jpg -------------------------------------------------------------------------------- /demo/handle_control/requirements.txt: -------------------------------------------------------------------------------- 1 | pyserial 2 | pymycobot 3 | pygame -------------------------------------------------------------------------------- /demo/loop.py: -------------------------------------------------------------------------------- 1 | import time 2 | import os 3 | import sys 4 | from pymycobot import MyCobot280 5 | 6 | sys.path.append(os.path.dirname(__file__)) 7 | from port_setup import setup 8 | 9 | 10 | if __name__ == "__main__": 11 | cobot = setup() 12 | cobot.send_angles([0, 0, 0, 0, 0, 0], 100) 13 | time.sleep(10) 14 | print("start") 15 | for count in range(50): 16 | time.sleep(0.05) 17 | cobot.send_angle(1, (-30), 100) 18 | time.sleep(0.05) 19 | cobot.send_angle(2, 70, 100) 20 | time.sleep(0.05) 21 | cobot.send_angle(3, (-110), 100) 22 | time.sleep(0.05) 23 | cobot.send_angle(4, (-100), 100) 24 | time.sleep(0.05) 25 | cobot.send_angle(5, 0, 100) 26 | time.sleep(0.05) 27 | cobot.send_angle(6, 0, 100) 28 | time.sleep(1) 29 | cobot.send_angle(2, 0, 100) 30 | time.sleep(0.05) 31 | cobot.send_angle(6, 0, 100) 32 | time.sleep(0.05) 33 | cobot.send_angle(5, 0, 100) 34 | time.sleep(0.05) 35 | cobot.send_angle(4, 0, 100) 36 | time.sleep(0.05) 37 | cobot.send_angle(3, 0, 100) 38 | time.sleep(0.05) 39 | cobot.send_angle(1, 0, 100) 40 | time.sleep(1) 41 | cobot.send_angle(1, 60, 100) 42 | time.sleep(0.05) 43 | cobot.send_angle(2, 70, 100) 44 | time.sleep(0.05) 45 | cobot.send_angle(3, (-100), 100) 46 | time.sleep(0.05) 47 | cobot.send_angle(4, (-100), 100) 48 | time.sleep(0.05) 49 | cobot.send_angle(5, 0, 100) 50 | time.sleep(0.05) 51 | cobot.send_angle(6, 0, 100) 52 | time.sleep(1) 53 | cobot.send_angle(2, 0, 100) 54 | time.sleep(0.05) 55 | cobot.send_angle(6, 0, 100) 56 | time.sleep(0.05) 57 | cobot.send_angle(5, 0, 100) 58 | time.sleep(0.05) 59 | cobot.send_angle(4, 0, 100) 60 | time.sleep(0.05) 61 | cobot.send_angle(3, 0, 100) 62 | time.sleep(0.05) 63 | cobot.send_angle(1, 0, 100) 64 | time.sleep(1) 65 | print("time") 66 | -------------------------------------------------------------------------------- /demo/myArm_M: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/README.md: -------------------------------------------------------------------------------- 1 | # myArm M&C control case 2 | 3 | [中文](./README_ZH.md) 4 | 5 | ## Installation dependency 6 | 7 | ```shell 8 | pip install -r requirement.txt 9 | ``` 10 | 11 | ## Run the program 12 | 13 | ```shell 14 | python main.py 15 | ``` 16 | 17 | ## Program instructions 18 | 19 | There is a sequence requirement for opening the serial port: first open the serial port connection of myArmM, then open the serial port connection of myArmC. 20 | 21 | ![img1](./resources/app_1.png) 22 | ![img2](./resources/app_2.png) 23 | 24 | After both serial ports are opened, you can control the movement of myArmM by moving myArmC. -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/README_ZH.md: -------------------------------------------------------------------------------- 1 | 2 | # myArm M&C 控制案例 3 | 4 | [English](./README.md) 5 | 6 | ## 安装依赖 7 | 8 | ```shell 9 | pip install -r requirement.txt 10 | ``` 11 | 12 | ## 运行程序 13 | 14 | ```shell 15 | python main.py 16 | ``` 17 | 18 | ## 程序使用说明 19 | 20 | 串口的打开有顺序要求：先开启myArmM的串口连接，再开启myArmC的串口连接。 21 | 22 | ![img1](./resources/app_1.png) 23 | ![img2](./resources/app_2.png) 24 | 25 | 两个串口都开启以后就可以通过移动myArmC来控制myArmM运动。 26 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/get_date.py: -------------------------------------------------------------------------------- 1 | 2 | from pymycobot import MyArmC, MyArmM 3 | 4 | import time 5 | from PySide6.QtCore import QThread, Signal 6 | 7 | class CreateSerial(QThread): 8 | progress = Signal(dict) 9 | 10 | def __init__(self, port, index, parent_serial=None): 11 | super().__init__() 12 | if index in [1,2]: 13 | self.serial = MyArmC(port) 14 | else: 15 | self.serial = MyArmM(port) 16 | self.index = index 17 | self.parent_serial = parent_serial 18 | self.serial_type = self.serial.__class__.__name__ 19 | 20 | def close(self): 21 | self.serial._serial_port.close() 22 | 23 | 24 | def open(self): 25 | self.serial._serial_port.open() 26 | 27 | 28 | def run(self) -> None: 29 | data = {"angle":[1,2,3,4,5,6,7,8], "speed":[1,2,3,4,5,6,7,8] , "acc": [1,2,3,4,5,6,7,8]} 30 | while True: 31 | 32 | try: 33 | if self.serial._serial_port.isOpen(): 34 | 35 | 36 | if (self.index == 1 or self.index == 2) and self.parent_serial is not None and data["angle"] and data["speed"]: 37 | data["angle"] = self.serial.get_servos_encoder() 38 | data["speed"] = self.serial.get_servos_speed() 39 | data["angle"][3] = 4096 - data["angle"][3] 40 | data["angle"][-1] *= 1.1 41 | data["angle"][-1] = int(data["angle"][-1]) 42 | if data["angle"][-1] > 2048: 43 | data["angle"][-1] = 2048 44 | # self.parent_serial.set_servos_encoder_drag(data["angle"], data["speed"]) 45 | self.parent_serial.serial.set_servos_encoder(data["angle"], 100) 46 | else: 47 | data["angle"] = self.serial.get_servos_encoder() 48 | data["speed"] = self.serial.get_servos_speed() 49 | time.sleep(1) 50 | if data["angle"] and data["speed"]: 51 | self.progress.emit({str(self.index):data}) 52 | except: 53 | pass 54 | time.sleep(0.0001) -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/requirement.txt: -------------------------------------------------------------------------------- 1 | PySide6==6.7.0 2 | pymycobot==3.4.6b1 3 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/resources/app.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo/resources/app.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/resources/app_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo/resources/app_1.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/resources/app_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo/resources/app_2.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/resources/mystudio.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo/resources/mystudio.ico -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/ui/bt.py: -------------------------------------------------------------------------------- 1 | from PySide6.QtCore import * 2 | from PySide6.QtWidgets import * 3 | from PySide6.QtGui import * 4 | 5 | 6 | class SwitchButton(QCheckBox): 7 | status_button = Signal(bool) 8 | 9 | def __init__( 10 | self, 11 | width=60, 12 | bg_color="#777", 13 | circle_color="#ddd", 14 | active_color="#409eff", 15 | animation_curve=QEasingCurve.OutQuint 16 | 17 | ): 18 | QCheckBox.__init__(self) 19 | 20 | self.setFixedSize(width, 28) 21 | self.setCursor(Qt.PointingHandCursor) 22 | 23 | self._bg_corlor = bg_color 24 | self._circle_color = circle_color 25 | self._active_color = active_color 26 | 27 | self.stateChanged.connect(self.start_transition) 28 | 29 | self._circle_position = 3 30 | self.animation = QPropertyAnimation(self, b"circle_position", self) 31 | self.animation.setEasingCurve(animation_curve) 32 | self.animation.setDuration(500) 33 | 34 | @Property(float) 35 | def circle_position(self): 36 | return self._circle_position 37 | 38 | @circle_position.setter 39 | def circle_position(self, pos): 40 | self._circle_position = pos 41 | self.update() 42 | 43 | def reset_state(self): 44 | self.setChecked(False) 45 | self.animation.setEndValue(3) 46 | 47 | def start_transition(self, value): 48 | # print(f'status:{self.isChecked()}') 49 | 50 | # print(value, "value") 51 | 52 | self.animation.stop() 53 | 54 | if value: 55 | self.animation.setEndValue(self.width()-25) 56 | self.status_button.emit(True) 57 | else: 58 | self.animation.setEndValue(3) 59 | self.status_button.emit(False) 60 | 61 | self.animation.start() 62 | 63 | def hitButton(self, pos: QPoint): 64 | return self.contentsRect().contains(pos) 65 | 66 | def paintEvent(self, e): 67 | # pass 68 | p = QPainter(self) 69 | p.setRenderHint(QPainter.Antialiasing) 70 | 71 | p.setPen(Qt.NoPen) 72 | 73 | rect = QRect(0, 0, self.width(), self.height()) 74 | 75 | if self.isChecked(): 76 | 77 | p.setBrush(QColor(self._active_color)) 78 | p.drawRoundedRect(0, 0, rect.width(), self.height(), 79 | self.height()/2, self.height()/2) 80 | 81 | p.setBrush(QColor(self._circle_color)) 82 | p.drawEllipse(self._circle_position, 3, 22, 22) 83 | 84 | else: 85 | 86 | p.setBrush(QColor(self._bg_corlor)) 87 | p.drawRoundedRect(0, 0, rect.width(), self.height(), 88 | self.height()/2, self.height()/2) 89 | 90 | p.setBrush(QColor(self._circle_color)) 91 | 92 | p.drawEllipse(self.circle_position, 3, 22, 22) 93 | 94 | p.end() 95 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo/utils.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: UTF-8 -*- 3 | import socket 4 | import typing as T 5 | from serial.tools import list_ports 6 | _T = T.TypeVar("_T") 7 | 8 | 9 | def select( 10 | message: str, 11 | options: T.List[_T], 12 | default: int = None, 13 | level: int = 1, 14 | echo: T.Callable = lambda msg: msg, 15 | start: int = 1 16 | ) -> T.Optional[_T]: 17 | print(f"{message}\r\n") 18 | p = " " * level 19 | for ordinal, option in enumerate(options, start=start): 20 | print(f"{p}{ordinal}. {echo(option)}") 21 | else: 22 | print() 23 | 24 | tips = f" # (Info) Select ({echo(options[default - 1])}) >" if default is not None else f" # (Info) Select: " 25 | 26 | while True: 27 | try: 28 | user_input = input(f"{tips}").lower().strip() 29 | if len(user_input) == 0 and (default is not None or len(options) == 1): 30 | return options[default - 1] 31 | 32 | if user_input.isdigit(): 33 | return options[int(user_input) - 1] 34 | 35 | if user_input in options: 36 | return user_input 37 | 38 | if user_input in ("q", "quit"): 39 | return None 40 | 41 | raise ValueError 42 | except ValueError: 43 | print(f" * Invalid input, please enter a number.") 44 | 45 | except IndexError: 46 | print(f" * Invalid input, please enter a valid number.") 47 | 48 | 49 | def get_local_serial_port(): # 获取所有串口号 50 | return [comport.device for comport in list_ports.comports()] 51 | 52 | 53 | def get_local_host(): 54 | hostname = socket.gethostname() 55 | ip_address = socket.gethostbyname(hostname) 56 | return ip_address 57 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/README.md: -------------------------------------------------------------------------------- 1 | # myArm M&C control case 2 | 3 | [中文](./README_ZH.md) 4 | 5 | ## Installation dependency 6 | 7 | ```shell 8 | pip install -r requirement.txt 9 | ``` 10 | 11 | ## Run the program 12 | 13 | ```shell 14 | python main.py 15 | ``` 16 | 17 | ## Program instructions 18 | 19 | There is a sequence requirement for opening the serial port: first open the serial port connection of myArmM, then open the serial port connection of myArmC. 20 | 21 | ![img1](./resources/app_1.png) 22 | ![img2](./resources/app_2.png) 23 | 24 | After both serial ports are opened, you can control the movement of myArmM by moving myArmC. -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/README_ZH.md: -------------------------------------------------------------------------------- 1 | 2 | # myArm M&C 控制案例 3 | 4 | [English](./README.md) 5 | 6 | ## 安装依赖 7 | 8 | ```shell 9 | pip install -r requirement.txt 10 | ``` 11 | 12 | ## 运行程序 13 | 14 | ```shell 15 | python main.py 16 | ``` 17 | 18 | ## 程序使用说明 19 | 20 | 串口的打开有顺序要求：先开启myArmM的串口连接，再开启myArmC的串口连接。 21 | 22 | ![img1](./resources/app_1.png) 23 | ![img2](./resources/app_2.png) 24 | 25 | 两个串口都开启以后就可以通过移动myArmC来控制myArmM运动。 26 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/get_date.py: -------------------------------------------------------------------------------- 1 | 2 | from pymycobot import MyArmC, MyArmM 3 | from pymycobot.robot_info import RobotLimit 4 | 5 | import time 6 | from PySide6.QtCore import QThread, Signal 7 | 8 | class CreateSerial(QThread): 9 | progress = Signal(dict) 10 | 11 | def __init__(self, port, index, parent_serial=None): 12 | super().__init__() 13 | if index in [1,2]: 14 | self.serial = MyArmC(port, 1000000) 15 | else: 16 | self.serial = MyArmM(port, 1000000) 17 | self.index = index 18 | self.parent_serial = parent_serial 19 | self.serial_type = self.serial.__class__.__name__ 20 | 21 | def close(self): 22 | self.serial._serial_port.close() 23 | 24 | 25 | def open(self): 26 | self.serial._serial_port.open() 27 | 28 | 29 | def run(self) -> None: 30 | data = {"angle":[1,2,3,4,5,6,7,8], "speed":[1,2,3,4,5,6,7,8] , "acc": [1,2,3,4,5,6,7,8]} 31 | while True: 32 | 33 | try: 34 | if self.serial._serial_port.isOpen(): 35 | 36 | 37 | if (self.index == 1 or self.index == 2) and self.parent_serial is not None and data["angle"] and data["speed"]: 38 | data["angle"] = self.serial.get_joints_angle() 39 | data["angle"][-1] = round((data["angle"][-1] - 0.08) / (-95.27 - 0.08) * (-123.13 + 1.23) - 1.23, 2) 40 | if data["angle"][-1] > 2: 41 | data["angle"][-1] = 2 42 | elif data["angle"][-1] < -118: 43 | data["angle"][-1] = -118 44 | for i in range(len(data["angle"])): 45 | if data["angle"][i] > 0 and (RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - data["angle"][i]) < 5: 46 | data["angle"][i] = RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - 5 47 | elif data["angle"][i] < 0 and (data["angle"][i] - RobotLimit.robot_limit["MyArmM"]["angles_min"][i]) < 5: 48 | data["angle"][i] = RobotLimit.robot_limit["MyArmM"]["angles_min"][i] + 5 49 | self.parent_serial.serial.set_joints_angle(data["angle"], 100) 50 | else: 51 | # data["angle"] = self.serial.get_servos_encoder() 52 | # data["speed"] = self.serial.get_servos_speed() 53 | time.sleep(1) 54 | self.progress.emit({str(self.index):data}) 55 | # if data["angle"]: 56 | # self.progress.emit({str(self.index):data}) 57 | except: 58 | pass 59 | time.sleep(0.0001) -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/myarm_c.py: -------------------------------------------------------------------------------- 1 | # 读取myarm_c的角度并发送 2 | import socket 3 | from pymycobot import MyArmC, MyArmM 4 | import serial.tools.list_ports 5 | import time 6 | 7 | def get_port(): # 获取所有串口号 8 | port_list = serial.tools.list_ports.comports() 9 | i = 1 10 | res = {} 11 | for port in port_list: 12 | print("{} - {}".format(i, port.device)) 13 | res[str(i)] = port.device 14 | i += 1 15 | return res 16 | 17 | def main(): 18 | port_dict = get_port() 19 | print("Note: After the program is started, the M750 will follow the C650 to do the same action. Please place the two machines in the same position to avoid sudden swinging of the machines.") 20 | port_c = input("input myArm C port: ") 21 | c_port = port_dict[port_c] 22 | c = MyArmC(c_port, debug=False) 23 | HOST = '127.0.0.1' 24 | PORT = 8001 25 | client = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 26 | # 请求连接 27 | client.connect((HOST, PORT)) 28 | while True: 29 | angle = c.get_joints_angle() 30 | if angle is not None: 31 | data = '\n' + str(angle) 32 | client.send(data.encode('utf-8')) 33 | 34 | if __name__ == "__main__": 35 | main() -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/myarm_m.py: -------------------------------------------------------------------------------- 1 | # myarm_m接收角度并执行 2 | from pymycobot.error import MyArmDataException 3 | from pymycobot import MyArmC, MyArmM 4 | import serial.tools.list_ports 5 | import time 6 | import socket 7 | from pymycobot.robot_info import RobotLimit 8 | 9 | def get_port(): # 获取所有串口号 10 | port_list = serial.tools.list_ports.comports() 11 | i = 1 12 | res = {} 13 | for port in port_list: 14 | print("{} - {}".format(i, port.device)) 15 | res[str(i)] = port.device 16 | i += 1 17 | return res 18 | 19 | def processing_data(data): 20 | data = data.split('\n')[-1] 21 | angle = list(data[1:-1].split(',')) 22 | angle = [float(i) for i in angle] 23 | # angle[2] *= -1 24 | gripper_angle = angle.pop(-1) 25 | angle.append((gripper_angle - 0.08) / (-95.27 - 0.08) * (-123.13 + 1.23) - 1.23) 26 | return angle 27 | 28 | def main(): 29 | HOST = '127.0.0.1' 30 | PORT = 8001 31 | server = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 32 | server.bind((HOST, PORT)) 33 | server.listen(5) 34 | port_dict = get_port() 35 | print("Note: After the program is started, the M750 will follow the C650 to do the same action. Please place the two machines in the same position to avoid sudden swinging of the machines.") 36 | port_m = input("input myArm M port: ") 37 | m_port = port_dict[port_m] 38 | m = MyArmM(m_port, 1000000, debug=False) 39 | speed = 100 40 | 41 | print('Server start at: %s:%s' % (HOST, PORT)) 42 | print('wait for connection...') 43 | # 接收客户端请求 44 | 45 | while True: 46 | conn, addr = server.accept() 47 | # 客户端IP 48 | print('Connected by ', addr) 49 | while True: 50 | try: 51 | data = conn.recv(1024).decode('utf-8') 52 | angle = processing_data(data) 53 | for i in range(len(angle)): 54 | if angle[i] > 0 and (RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - angle[i]) < 5: 55 | angle[i] = RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - 5 56 | elif angle[i] < 0 and (angle[i] - RobotLimit.robot_limit["MyArmM"]["angles_min"][i]) < 5: 57 | angle[i] = RobotLimit.robot_limit["MyArmM"]["angles_min"][i] + 5 58 | m.set_joints_angle(angle, speed) 59 | except MyArmDataException: 60 | pass 61 | 62 | 63 | if __name__ == "__main__": 64 | main() 65 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/requirement.txt: -------------------------------------------------------------------------------- 1 | PySide6==6.7.0 2 | pymycobot==3.4.6b1 3 | -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/resources/app.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo_v1.1/resources/app.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/resources/app_1.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo_v1.1/resources/app_1.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/resources/app_2.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo_v1.1/resources/app_2.png -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/resources/mystudio.ico: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_M&C_demo_v1.1/resources/mystudio.ico -------------------------------------------------------------------------------- /demo/myArm_M&C_demo_v1.1/ui/bt.py: -------------------------------------------------------------------------------- 1 | from PySide6.QtCore import * 2 | from PySide6.QtWidgets import * 3 | from PySide6.QtGui import * 4 | 5 | 6 | class SwitchButton(QCheckBox): 7 | status_button = Signal(bool) 8 | 9 | def __init__( 10 | self, 11 | width=60, 12 | bg_color="#777", 13 | circle_color="#ddd", 14 | active_color="#409eff", 15 | animation_curve=QEasingCurve.OutQuint 16 | 17 | ): 18 | QCheckBox.__init__(self) 19 | 20 | self.setFixedSize(width, 28) 21 | self.setCursor(Qt.PointingHandCursor) 22 | 23 | self._bg_corlor = bg_color 24 | self._circle_color = circle_color 25 | self._active_color = active_color 26 | 27 | self.stateChanged.connect(self.start_transition) 28 | 29 | self._circle_position = 3 30 | self.animation = QPropertyAnimation(self, b"circle_position", self) 31 | self.animation.setEasingCurve(animation_curve) 32 | self.animation.setDuration(500) 33 | 34 | @Property(float) 35 | def circle_position(self): 36 | return self._circle_position 37 | 38 | @circle_position.setter 39 | def circle_position(self, pos): 40 | self._circle_position = pos 41 | self.update() 42 | 43 | def reset_state(self): 44 | self.setChecked(False) 45 | self.animation.setEndValue(3) 46 | 47 | def start_transition(self, value): 48 | # print(f'status:{self.isChecked()}') 49 | 50 | # print(value, "value") 51 | 52 | self.animation.stop() 53 | 54 | if value: 55 | self.animation.setEndValue(self.width()-25) 56 | self.status_button.emit(True) 57 | else: 58 | self.animation.setEndValue(3) 59 | self.status_button.emit(False) 60 | 61 | self.animation.start() 62 | 63 | def hitButton(self, pos: QPoint): 64 | return self.contentsRect().contains(pos) 65 | 66 | def paintEvent(self, e): 67 | # pass 68 | p = QPainter(self) 69 | p.setRenderHint(QPainter.Antialiasing) 70 | 71 | p.setPen(Qt.NoPen) 72 | 73 | rect = QRect(0, 0, self.width(), self.height()) 74 | 75 | if self.isChecked(): 76 | 77 | p.setBrush(QColor(self._active_color)) 78 | p.drawRoundedRect(0, 0, rect.width(), self.height(), 79 | self.height()/2, self.height()/2) 80 | 81 | p.setBrush(QColor(self._circle_color)) 82 | p.drawEllipse(self._circle_position, 3, 22, 22) 83 | 84 | else: 85 | 86 | p.setBrush(QColor(self._bg_corlor)) 87 | p.drawRoundedRect(0, 0, rect.width(), self.height(), 88 | self.height()/2, self.height()/2) 89 | 90 | p.setBrush(QColor(self._circle_color)) 91 | 92 | p.drawEllipse(self.circle_position, 3, 22, 22) 93 | 94 | p.end() 95 | -------------------------------------------------------------------------------- /demo/myArm_demo/.xiaqi.py.swp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/myArm_demo/.xiaqi.py.swp -------------------------------------------------------------------------------- /demo/myArm_demo/all_run_test.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding:utf-8 -*- 3 | # @File : all_run_test.py 4 | # @Author : Wang Weijian 5 | # @Time : 2023/07/11 15:38:45 6 | # @function: the script is used to do something 7 | # @version : V1 8 | 9 | import time 10 | from pymycobot.myarm import MyArm 11 | 12 | mc = MyArm('/dev/ttyAMA0') 13 | 14 | init_angles = [ 15 | [90, 0, 0, 0, 0, 0, 0], # zero point 16 | [-90, 0, 0, -90, 0, -90, 0], # first init point 17 | [90, 0, 0, -90, 0, -90, 0], # second init point 18 | [0, 80, 0, 0, 0, 0, 0], # four 19 | [-150, 80, 0, 0, 0, 0, 0], 20 | [150, 80, 0, 0, 0, 0, 0], # 6 21 | [155.12, -79.27, -0.26, 76.46, 5.71, 45.0, -0.08], # 7 22 | [-29.53, -48.11, 165, -89.2, 0.41, -43.56, 0.35], # 8 23 | [87.62, 80, 165, -82.96, 165, -73.38, 0.26], # 9 24 | [-114.16, 80, 165, -82.96, 165, -104.58, 0.26], # 10 25 | [17.84, -2.1, 165, -100, 165, 64.16, -6.24], # 11 26 | [-11.07, -11.68, 2.1, -93.42, 3.07, -9.14, -45.35], # 12 27 | [-19.68, -16.96, -165, -84.28, -161.19, 1.05, -43.76] , # 13 28 | [-108.89, -78.39, -165, -89.64, 165, 110, -0.7], # 14 29 | [160.57, -78.92, 165, -84.63, -163.3, 1.05, -43.76], # 15 30 | ] 31 | 32 | low_speed = 10 33 | medium_speed = 50 34 | high_speed = 100 35 | timet = int(3) 36 | 37 | 38 | def main(): 39 | """ 40 | 体现myarm三种不同速度的多种运动姿态 41 | :return: None 42 | """ 43 | mc.send_angles(init_angles[0], medium_speed) 44 | time.sleep(3+timet) 45 | 46 | mc.send_angles(init_angles[1], low_speed) 47 | time.sleep(10+timet) 48 | 49 | mc.send_angles(init_angles[2], high_speed) 50 | time.sleep(2+timet) 51 | 52 | mc.send_angles(init_angles[3], high_speed) 53 | time.sleep(4+timet) 54 | mc.send_angles(init_angles[4], high_speed) 55 | time.sleep(4.5+timet) 56 | mc.send_angles(init_angles[5], high_speed) 57 | time.sleep(6+timet) 58 | mc.send_angles(init_angles[6], medium_speed) 59 | time.sleep(4+timet) 60 | mc.send_angles(init_angles[7], medium_speed) 61 | time.sleep(8+timet) 62 | mc.send_angles(init_angles[8], medium_speed) 63 | time.sleep(4+timet) 64 | mc.send_angles(init_angles[9], high_speed) 65 | time.sleep(4+timet) 66 | mc.send_angles(init_angles[10], high_speed) 67 | time.sleep(4+timet) 68 | mc.send_angles(init_angles[11], high_speed) 69 | time.sleep(4+timet) 70 | mc.send_angles(init_angles[12], high_speed) 71 | time.sleep(4+timet) 72 | mc.send_angles(init_angles[13], medium_speed) 73 | time.sleep(8+timet) 74 | mc.send_angles(init_angles[14], high_speed) 75 | time.sleep(5+timet) 76 | mc.send_angles(init_angles[0], medium_speed) 77 | time.sleep(7.5+timet) 78 | 79 | 80 | 81 | if __name__ == '__main__': 82 | main() 83 | -------------------------------------------------------------------------------- /demo/myArm_demo/dexterous_hands.py: -------------------------------------------------------------------------------- 1 | # -*- coding:utf-8 -*- 2 | """ 3 | File : dexterous_hands.py 4 | Time : 2023/11/16 5 | Function: This script is used to control the switch of the dexterous hand of the robot arm end effector. 6 | Atom Version: V1.1 7 | pymycobot Version: 3.3.0 8 | """ 9 | import time 10 | from pymycobot.myarm import MyArm 11 | 12 | # Initialize the MyArm object with the appropriate port 13 | ma = MyArm('/dev/ttyAMA0') 14 | 15 | # Perform dexterity hand switch action 3 times 16 | for i in range(3): 17 | # Open the gripper (0 represents open dexterous hand gripper, 80 represents speed, and 2 represents dexterous hand type.) 18 | ma.set_gripper_state(0, 80, 2) 19 | # Wait for 2 seconds 20 | time.sleep(2) 21 | 22 | # Close the gripper (1 represents close dexterous hand gripper, 80 represents speed, and 2 represents dexterous hand type.) 23 | ma.set_gripper_state(1, 80, 2) 24 | # Wait for 2 seconds 25 | time.sleep(2) 26 | -------------------------------------------------------------------------------- /demo/myArm_demo/four_piece_chess.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | mc = MyArm('/dev/ttyAMA0') 5 | time.sleep(0.1) 6 | 7 | 8 | def main(): 9 | """ 10 | 模仿myarm与人类下棋输赢状态的动作 11 | :return: None 12 | """ 13 | init_angles = [ 14 | [-60, 0, 0, -90, 0, -90, -0.79], # first init point 15 | # [0, 49, 0, -104, 0, -45, -0.79], # second init point 16 | [0, -49, 0, -100, 0, -45, -0.79], 17 | # [-0.26, 2.0, 0.43, -111.0, 0.43, 20.22, -0.79], # third 18 | [-3.16, -11.77, 0.17, -100, -0.52, -3.25, 1.23], # third 19 | [3.25, -8.61, 0.17, -99.14, 1.14, -2.81, -0.79], # left 20 | [-10.01, -6.85, 0.17, -99.49, -2.63, -2.81, 3.07], # right 21 | ] 22 | 23 | # mc.send_angles(init_angles[0], 50) 24 | 25 | # time.sleep(3) 26 | 27 | # mc.send_angles(init_angles[1], 50) 28 | # time.sleep(3) 29 | 30 | # mc.send_angles(init_angles[2], 50) 31 | # time.sleep(3) 32 | # mc.set_gservo_round(12) 33 | # time.sleep(1.5) 34 | 35 | # for i in range(5): 36 | 37 | mc.send_angles(init_angles[2], 50) 38 | time.sleep(2.5) 39 | mc.set_gservo_round(12) 40 | time.sleep(1.5) 41 | mc.send_angles(init_angles[1], 50) 42 | time.sleep(3) 43 | for i in range(3): 44 | mc.send_angles([0, -49, 0, -100, 0, -65, -0.79], 90) 45 | time.sleep(1) 46 | mc.send_angles([0, -49, 0, -100, 0, -25, -0.79], 90) 47 | time.sleep(1) 48 | # mc.send_angles(init_angles[1], 50) 49 | # time.sleep(3) 50 | 51 | # mc.send_angles(init_angles[2], 50) 52 | # time.sleep(3) 53 | # mc.set_gservo_round(12) 54 | # time.sleep(1.5) 55 | # mc.send_angles(init_angles[1], 50) 56 | # time.sleep(3) 57 | 58 | # mc.send_angles(init_angles[2], 50) 59 | # time.sleep(3) 60 | # mc.set_gservo_round(12) 61 | # time.sleep(1.5) 62 | # mc.send_angles(init_angles[1], 50) 63 | # time.sleep(3) 64 | 65 | 66 | # mc.send_angles([0.26, -2.0, 0.43, -100.0, 0.43, 20.22, -0.79], 50) 67 | # time.sleep(3) 68 | 69 | # win 70 | # for i in range(5): 71 | # mc.send_angles([0.0, -0.34, 0.17, -100.62, 0.17, 20.29, 0.08], 90) 72 | # time.sleep(1) 73 | # mc.send_angles([0.0, -0.34, 0.17, -100.62, 0.17, 20.29, 0.08], 90) 74 | # time.sleep(1) 75 | # print(init_angles[2]) 76 | 77 | # mc.send_angles(init_angles[2], 50) 78 | # time.sleep(3) 79 | # fail 80 | # mc.send_angles([0.0, -18.34, 0.17, -100.62, 0.17, -7.29, 0.08], 50) 81 | # time.sleep(3) 82 | # mc.send_angles([0.0, -18.34, 0.17, -100.62, 0.17, -26.29, 0.08], 5) 83 | # time.sleep(7) 84 | # mc.send_angle(4, -80, 30) 85 | # time.sleep(3) 86 | 87 | 88 | # mc.send_angles(init_angles[2], 50) 89 | # time.sleep(3) 90 | 91 | if __name__ == '__main__': 92 | main() 93 | -------------------------------------------------------------------------------- /demo/myArm_demo/gripper_aikit_v2.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | 5 | mc = MyArm('/dev/ttyAMA0') 6 | 7 | 8 | init_angles = [ 9 | [-60, 0, 0, -90, 0, -90, 0], # first init point 10 | [0, 0, 0, -90, 0, -90, 0], # second init point 11 | ] 12 | 13 | box_angles = [ 14 | [-47.9, 17.31, 0.17, -89.91, -0.17, -56.07, 0.0], # D 15 | [-27.59, 44.82, -1.75, -48.95, 0.0, -55.89, -0.0], # C 16 | [52.99, 18.36, -1.4, -86.57, -0.17, -55.89, -0.0], # A 17 | [87.97, 18.28, -1.4, -86.57, -0.35, -71.19, -0.0], # B 18 | ] 19 | 20 | 21 | # 开启 22 | def gripper_on(): 23 | mc.set_gripper_state(0, 100) 24 | time.sleep(0.5) 25 | 26 | 27 | # 关闭 28 | def gripper_off(): 29 | mc.set_gripper_state(1, 100) 30 | time.sleep(0.5) 31 | 32 | 33 | def move(): 34 | """ 35 | myarm使用夹爪模拟aikitV2套装抓取木块 36 | """ 37 | mc.send_angles(init_angles[0], 50) 38 | time.sleep(3) 39 | 40 | mc.send_angles(init_angles[1], 50) 41 | time.sleep(3) 42 | gripper_on() 43 | mc.send_angles([0.0, 26.27, 0.17, -72.86, -0.17, -77.51, 0.0], 50) 44 | time.sleep(3) 45 | 46 | # mc.send_angles([0.0, -47.63, 0.17, -77.43, 0.08, -55.72, 0.0], 50) 47 | mc.send_angles([-2.02, 41.74, 0.43, -86.13, -0.17, -46.05, 0.0], 50) 48 | 49 | 50 | time.sleep(3) 51 | 52 | gripper_off() 53 | time.sleep(2) 54 | tmp = [] 55 | while True: 56 | if not tmp: 57 | tmp = mc.get_angles() 58 | else: 59 | break 60 | time.sleep(0.5) 61 | tmp[6] = 0.0 62 | print(tmp) 63 | mc.send_angles([tmp[0], 0, 0, -90, -0.0, -90, tmp[6]], 50) 64 | # mc.send_angles([0, 0, 0, -90, 0, -90, 0], 50) 65 | time.sleep(3) 66 | mc.send_angles(box_angles[3], 50) 67 | time.sleep(4) 68 | gripper_on() 69 | time.sleep(2) 70 | mc.send_angles(init_angles[0], 50) 71 | time.sleep(4) 72 | 73 | 74 | if __name__ == '__main__': 75 | gripper_off() 76 | move() 77 | -------------------------------------------------------------------------------- /demo/myArm_demo/hand_gripper.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | mc = MyArm('/dev/ttyAMA0', debug=False) 5 | time.sleep(0.1) 6 | 7 | mc.set_fresh_mode(0) 8 | time.sleep(0.2) 9 | 10 | mc.set_servo_data(7, 5, 8) 11 | time.sleep(0.1) 12 | 13 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 14 | time.sleep(3) 15 | 16 | def main(): 17 | 18 | #mc.send_angles([-57.65, 35.24, -0.17, -68.11, 0.0, 14.76, 135.0], 50) 19 | #print(mc.get_error_information()) 20 | #exit() 21 | mc.send_angles([-58.88, 34.27, -0.43, -67.5, -0.35, 20.2, 0.0], 60) 22 | time.sleep(2.5) 23 | 24 | for i in range(4): 25 | mc.set_solution_angles(70, 20) 26 | 27 | time.sleep(2.5) 28 | mc.set_solution_angles(-70, 20) 29 | time.sleep(2.5) 30 | 31 | 32 | mc.send_angles([-58.88, 34.27, -0.43, -67.5, -0.35, 20.2, 0.0], 60) 33 | time.sleep(2.5) 34 | 35 | time.sleep(5) 36 | 37 | # two action 38 | mc.send_angles([-90, 0, 0.0, -90, 0, 0, -30], 60) 39 | time.sleep(2.5) 40 | 41 | for i in range(4): 42 | mc.send_angle(7, -65, 50) 43 | time.sleep(2) 44 | mc.set_encoder(8, 2450) 45 | time.sleep(2) 46 | mc.send_angle(7, 35, 50) 47 | time.sleep(2) 48 | mc.set_encoder(8, 2000) 49 | time.sleep(2) 50 | 51 | mc.send_angles([-90, 0.87, -0.08, -90.79, 0.35, 0.26, -30], 50) 52 | time.sleep(2.5) 53 | 54 | time.sleep(5) 55 | # three action 56 | mc.send_angles([-90, 0, 0, 0, 0, 0, 40], 60) 57 | time.sleep(2.5) 58 | 59 | for i in range(4): 60 | mc.send_angle(4, 45, 95) 61 | time.sleep(1.5) 62 | mc.send_angle(4, -45, 95) 63 | time.sleep(1.5) 64 | 65 | for i in range(4): 66 | mc.send_angle(4, 45, 20) 67 | time.sleep(2.5) 68 | mc.send_angle(4, -45, 20) 69 | time.sleep(2.5) 70 | mc.send_angles([-90, 0, 0, 0, 0, 0, 40], 50) 71 | time.sleep(2.5) 72 | 73 | i = 0 74 | while i <1: 75 | main() 76 | i+=1 77 | 78 | -------------------------------------------------------------------------------- /demo/myArm_demo/myarm_agv_demo.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | 5 | mc = MyArm('/dev/ttyAMA0') 6 | 7 | init_angles = [ 8 | [-60, 0, 0, -90, 0, -90, 0], # first init point 9 | [0, 0, 0, -90, 0, -90, 0], # second init point 10 | ] 11 | 12 | box_angles = [ 13 | [-47.9, -17.31, 0.17, -89.91, -0.17, -56.07, 0.0], # D 14 | [-27.59, -44.82, -1.75, -48.95, 0.0, -55.89, -0.0], # C 15 | [52.99, -18.36, -1.4, -86.57, -0.17, -55.89, -0.0], # A 16 | [87.97, -18.28, -1.4, -86.57, -0.35, -71.19, -0.0], # B 17 | ] 18 | 19 | 20 | # 开启 21 | def gripper_on(): 22 | mc.set_gripper_state(0, 100) 23 | time.sleep(0.5) 24 | 25 | 26 | # 关闭 27 | def gripper_off(): 28 | mc.set_gripper_state(1, 100) 29 | time.sleep(0.5) 30 | 31 | 32 | def move(): 33 | """ 34 | myarm使用夹爪模拟aikitV2套装抓取木块 35 | """ 36 | mc.send_angles(init_angles[0], 50) 37 | time.sleep(3) 38 | 39 | mc.send_angles(init_angles[1], 50) 40 | time.sleep(3) 41 | gripper_on() 42 | mc.send_angles([0.0, -26.27, 0.17, -72.86, -0.17, -77.51, 0.0], 50) 43 | time.sleep(3) 44 | 45 | # mc.send_angles([0.0, -47.63, 0.17, -77.43, 0.08, -55.72, 0.0], 50) 46 | mc.send_angles([-2.02, -41.74, 0.43, -86.13, -0.17, -46.05, 0.0], 50) 47 | 48 | 49 | time.sleep(3) 50 | 51 | gripper_off() 52 | time.sleep(2) 53 | tmp = [] 54 | while True: 55 | if not tmp: 56 | tmp = mc.get_angles() 57 | else: 58 | break 59 | time.sleep(0.5) 60 | tmp[6] = 0.0 61 | print(tmp) 62 | mc.send_angles([tmp[0], 0, 0, -90, -0.0, -90, tmp[6]], 50) 63 | # mc.send_angles([0, 0, 0, -90, 0, -90, 0], 50) 64 | time.sleep(3) 65 | mc.send_angles(box_angles[3], 50) 66 | time.sleep(4) 67 | gripper_on() 68 | time.sleep(2) 69 | mc.send_angles(init_angles[0], 50) 70 | time.sleep(4) 71 | 72 | 73 | if __name__ == '__main__': 74 | gripper_off() 75 | move() 76 | -------------------------------------------------------------------------------- /demo/myArm_demo/pump_aikit_v2.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | import RPi.GPIO as GPIO 4 | 5 | mc = MyArm('/dev/ttyAMA0') 6 | 7 | # 初始化 8 | GPIO.setmode(GPIO.BCM) 9 | # 引脚20/21分别控制电磁阀和泄气阀门 10 | GPIO.setup(20, GPIO.OUT) 11 | GPIO.setup(21, GPIO.OUT) 12 | 13 | init_angles = [ 14 | [-60, 0, 0, -90, 0, -90, 0], # first init point 15 | [0, 0, 0, -90, 0, -90, 0], # second init point 16 | ] 17 | 18 | box_angles = [ 19 | [-47.9, 17.31, 0.17, -89.91, -0.17, -56.07, 0.0], # D 20 | [-27.59, 44.82, -1.75, -48.95, 0.0, -55.89, -0.08], # C 21 | [52.99, 18.36, -1.4, -86.57, -0.17, -55.89, -0.08], # A 22 | [87.97, 18.28, -1.4, -86.57, -0.35, -71.19, -0.08], # B 23 | ] 24 | 25 | 26 | # 开启吸泵 27 | def pump_on(): 28 | # 打开电磁阀 29 | GPIO.output(20, 0) 30 | 31 | 32 | # 停止吸泵 33 | def pump_off(): 34 | # 关闭电磁阀 35 | GPIO.output(20, 1) 36 | time.sleep(0.05) 37 | # 打开泄气阀门 38 | GPIO.output(21, 0) 39 | time.sleep(1) 40 | GPIO.output(21, 1) 41 | time.sleep(0.05) 42 | 43 | 44 | def move(): 45 | """ 46 | myarm使用吸泵模拟aikitV2套装抓取木块 47 | """ 48 | #mc.send_angles(init_angles[0], 50) 49 | #time.sleep(3) 50 | 51 | mc.send_angles(init_angles[1], 50) 52 | time.sleep(3) 53 | 54 | #mc.send_angles([0, 22, 0, -70, 0, -82, 0], 30) 55 | mc.send_coords([176.3, -1.5, 201.3, -179.89, 3.6, 179.49], 30) 56 | time.sleep(3) 57 | 58 | #mc.send_angles([-0.35, 37.79, -0.7, -90.43, -0.35, -45.96, -0.26], 30) 59 | mc.send_coords([177.8, -3.5, 114, -179.26, 5.79, 179.64], 30) 60 | time.sleep(2.5) 61 | pump_on() 62 | time.sleep(3) 63 | tmp = [] 64 | while True: 65 | if not tmp: 66 | tmp = mc.get_angles() 67 | else: 68 | break 69 | time.sleep(0.5) 70 | mc.send_angles([tmp[0], 0, 0, -90, -0.79, -90, tmp[6]], 50) 71 | # mc.send_angles([0, 0, 0, -90, 0, -90, 0], 50) 72 | time.sleep(4) 73 | mc.send_angles(box_angles[3], 50) 74 | time.sleep(4) 75 | pump_off() 76 | time.sleep(2) 77 | mc.send_angles(init_angles[0], 50) 78 | time.sleep(4) 79 | 80 | 81 | if __name__ == '__main__': 82 | pump_off() 83 | move() 84 | -------------------------------------------------------------------------------- /demo/myArm_demo/pump_test.py: -------------------------------------------------------------------------------- 1 | from pymycobot.myarm import MyArm 2 | import time 3 | import RPi.GPIO as GPIO 4 | 5 | # 初始化一个MyCobot对象 6 | mc = MyArm('/dev/ttyAMA0') 7 | 8 | # 初始化 9 | GPIO.setmode(GPIO.BCM) 10 | # 引脚20/21分别控制电磁阀和泄气阀门 11 | GPIO.setup(20, GPIO.OUT) 12 | GPIO.setup(21, GPIO.OUT) 13 | 14 | 15 | # 开启吸泵 16 | def pump_on(): 17 | # 打开电磁阀 18 | GPIO.output(20, 0) 19 | 20 | 21 | # 停止吸泵 22 | def pump_off(): 23 | # 关闭电磁阀 24 | GPIO.output(20, 1) 25 | time.sleep(0.05) 26 | # 打开泄气阀门 27 | GPIO.output(21, 0) 28 | time.sleep(1) 29 | GPIO.output(21, 1) 30 | time.sleep(0.05) 31 | 32 | 33 | pump_on() 34 | time.sleep(6) 35 | pump_off() 36 | time.sleep(3) 37 | -------------------------------------------------------------------------------- /demo/myArm_demo/rgb_led.py: -------------------------------------------------------------------------------- 1 | import time 2 | import math 3 | from pymycobot.myarm import MyArm 4 | 5 | mc = MyArm('/dev/ttyAMA0', debug=False) 6 | time.sleep(0.1) 7 | 8 | mc.send_angles([90, 0, 0, 0, 0, 0, 0], 50) 9 | time.sleep(3) 10 | 11 | 12 | # mc.set_color(255, 0, 0) 13 | # time.sleep(1) 14 | # mc.set_color(128, 0, 0) 15 | # time.sleep(1) 16 | # mc.set_color(32, 0, 0) 17 | # time.sleep(1) 18 | 19 | def breathing_led(mc, duration): 20 | min_brightness = 0 21 | max_brightness = 255 22 | speed = 0.01 23 | 24 | period = 2 * math.pi 25 | 26 | colors = [(0, 255, 0), (255, 0, 0), (0, 0, 255)] 27 | 28 | while True: 29 | for color in colors: 30 | start_time = time.time() 31 | while time.time() - start_time < duration: 32 | elapsed_time = time.time() - start_time 33 | phase = (elapsed_time * 2 * math.pi / period) % (2 * math.pi) 34 | 35 | brightness = int(1 - (math.cos(phase)) / 2 * (max_brightness - min_brightness) + min_brightness) 36 | brightness = max(min(brightness, max_brightness), min_brightness) 37 | print('color:', brightness) 38 | # mc.set_color(brightness, 0, 0) 39 | r = color[0] * brightness // max_brightness 40 | g = color[1] * brightness // max_brightness 41 | b = color[2] * brightness // max_brightness 42 | mc.set_color(r, g, b) 43 | time.sleep(speed) 44 | 45 | # mc.set_color(0, 0, 0) 46 | 47 | 48 | duration = 6 49 | 50 | breathing_led(mc, duration) 51 | -------------------------------------------------------------------------------- /demo/myArm_demo/rgb_test.py: -------------------------------------------------------------------------------- 1 | import time 2 | import math 3 | from pymycobot.myarm import MyArm 4 | 5 | mc = MyArm('/dev/ttyAMA0', debug=False) 6 | time.sleep(0.1) 7 | 8 | # mc.send_angle(1, 0, 80) 9 | # print(mc.get_angles(), mc.get_coords()) 10 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 50) 11 | time.sleep(2.5) 12 | 13 | 14 | # mc.set_color(255, 0, 0) 15 | # time.sleep(1) 16 | # mc.set_color(128, 0, 0) 17 | # time.sleep(1) 18 | # mc.set_color(32, 0, 0) 19 | # time.sleep(1) 20 | 21 | def breathing_led(mc, duration): 22 | min_brightness = 0 23 | max_brightness = 255 24 | speed = 0.02 25 | 26 | period = 2 * math.pi 27 | 28 | while True: 29 | start_time = time.time() 30 | while time.time() - start_time < duration: 31 | elapsed_time = time.time() - start_time 32 | phase = (elapsed_time * 2 * math.pi / period) % (2 * math.pi) 33 | 34 | brightness = int(1 - (math.cos(phase)) / 2 * (max_brightness - min_brightness) + min_brightness) 35 | brightness = max(min(brightness, max_brightness), min_brightness) 36 | print('color:', brightness) 37 | mc.set_color(brightness, 0, 0) 38 | time.sleep(speed) 39 | 40 | mc.set_color(0, 0, 0) 41 | 42 | 43 | duration = 10 44 | 45 | breathing_led(mc, duration) 46 | -------------------------------------------------------------------------------- /demo/myArm_demo/space_arm_angle.py: -------------------------------------------------------------------------------- 1 | # -*- coding:utf-8 -*- 2 | """ 3 | File : space_arm_angle.py 4 | Time : 2023/11/16 5 | Function: The function of this script is to make the robot arm move with zero space deflection angle. 6 | Atom Version: V1.1 7 | pymycobot Version: 3.3.0 8 | """ 9 | 10 | import time 11 | from pymycobot.myarm import MyArm 12 | 13 | # Create a MyArm object and specify the serial port '/dev/ttyAMA0' 14 | mc = MyArm('/dev/ttyAMA0') 15 | 16 | # Set interpolation mode 17 | mc.set_fresh_mode(0) 18 | # Wait for 0.5 seconds 19 | time.sleep(0.5) 20 | 21 | # Send the joint angle command to move the robotic arm to the initial position with a speed of 60 22 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 23 | # Wait for 2.5 seconds 24 | time.sleep(2.5) 25 | 26 | # Send the joint angle command to move the robotic arm to the specified position with a speed of 60 27 | mc.send_angles([-58.88, 34.27, -0.43, -67.5, -0.35, -76.2, 0.0], 60) 28 | # Wait for 2.5 seconds 29 | time.sleep(2.5) 30 | 31 | # Execute a series of actions in a loop, 3 times in total 32 | for i in range(3): 33 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 34 | mc.set_solution_angles(70, 20) 35 | time.sleep(2.5) 36 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 37 | mc.set_solution_angles(-70, 20) 38 | time.sleep(2.5) 39 | 40 | # Send the joint angle command to move the robotic arm to the specified position with a speed of 60 41 | mc.send_angles([-58.88, 34.27, -0.43, -67.5, -0.35, 20.2, 0.0], 60) 42 | time.sleep(2.5) 43 | 44 | # Execute a series of actions in a loop, 3 times in total 45 | for i in range(3): 46 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 47 | mc.set_solution_angles(70, 20) 48 | time.sleep(2.5) 49 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 50 | mc.set_solution_angles(-70, 20) 51 | time.sleep(2.5) 52 | 53 | # Send the joint angle command to move the robotic arm to the specified position with a speed of 60 54 | mc.send_angles([-58.88, 34.27, -0.43, -67.5, -0.35, 20.2, 0.0], 60) 55 | 56 | # Send the joint angle command to move the robotic arm to the specified position with a speed of 60 57 | mc.send_angles([40.25, 36.38, -0.52, -67.23, 0.26, -76.37, -0.35], 60) 58 | time.sleep(2.5) 59 | 60 | # Execute a series of actions in a loop, 3 times in total 61 | for i in range(3): 62 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 63 | mc.set_solution_angles(70, 20) 64 | time.sleep(2.5) 65 | # Set the zero space deflection angle value to move to the target position with a speed of 20, 70 is the angle of joint 1 66 | mc.set_solution_angles(-70, 20) 67 | time.sleep(2.5) 68 | 69 | # Send the joint angle command to move the robotic arm to the specified position with a speed of 60 70 | mc.send_angles([40.25, 36.38, -0.52, -67.23, 0.26, -76.37, -0.35], 60) 71 | time.sleep(2.5) 72 | 73 | # # Send the joint angle command to move the robotic arm to the initial position with a speed of 60 74 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 75 | time.sleep(2.5) 76 | -------------------------------------------------------------------------------- /demo/myArm_demo/start_run_demo.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | mc = MyArm('/dev/ttyAMA0') 5 | 6 | time.sleep(0.1) 7 | 8 | 9 | def main(): 10 | """ 11 | 展示MyArm各个关节的运动状态 12 | :return: None 13 | """ 14 | angles_list = [ 15 | [98, 7, 68, -92, 164, 5, -2], 16 | [0, 35, 0, -75, 164, 5, -2], 17 | [0, 0, 0, -90, 165, -90, 2], 18 | [0, 0, 0, 0, 0, 0, 0], 19 | ] 20 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 21 | time.sleep(3) 22 | mc.send_angles([0, 0, 0, -100, 0, -78, 0], 60) 23 | time.sleep(3) 24 | 25 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 26 | time.sleep(3) 27 | mc.send_angle(1, 90, 60) 28 | time.sleep(3) 29 | 30 | for i in range(1, 8): 31 | if i == 1: 32 | mc.send_angle(i,140 , 60) 33 | time.sleep(3) 34 | mc.send_angle(i,40 , 60) 35 | time.sleep(3) 36 | mc.send_angle(i, 90, 60) 37 | time.sleep(2) 38 | elif i == 6: 39 | mc.send_angle(i,50 , 60) 40 | time.sleep(2) 41 | mc.send_angle(i, -50, 60) 42 | time.sleep(2) 43 | mc.send_angle(i, 0, 60) 44 | time.sleep(2) 45 | else: 46 | mc.send_angle(i, 50, 60) 47 | time.sleep(2) 48 | mc.send_angle(i, -50, 60) 49 | time.sleep(2) 50 | mc.send_angle(i, 0, 60) 51 | time.sleep(2) 52 | 53 | mc.send_angles(angles_list[0], 60) 54 | time.sleep(3) 55 | mc.send_angles(angles_list[1], 60) 56 | time.sleep(3) 57 | mc.send_angles(angles_list[2], 60) 58 | time.sleep(3) 59 | mc.send_angles(angles_list[3], 60) 60 | time.sleep(3) 61 | 62 | 63 | if __name__ == '__main__': 64 | main() 65 | -------------------------------------------------------------------------------- /demo/myArm_demo/wave_hand.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | mc = MyArm('/dev/ttyAMA0', debug=False) 5 | time.sleep(0.1) 6 | 7 | mc.set_fresh_mode(0) 8 | time.sleep(0.2) 9 | 10 | mc.set_servo_data(7, 5, 8) 11 | time.sleep(0.1) 12 | 13 | mc.send_angles([0, 0, 0, 0, 0, 0, 0], 60) 14 | time.sleep(3) 15 | 16 | def main(): 17 | # three action 18 | mc.send_angles([-90, 0, 0, 0, 0, 0, 40], 60) 19 | time.sleep(2.5) 20 | 21 | for i in range(4): 22 | mc.send_angle(4, 45, 95) 23 | time.sleep(1.5) 24 | mc.send_angle(4, -45, 95) 25 | time.sleep(1.5) 26 | 27 | for i in range(4): 28 | mc.send_angle(4, 45, 20) 29 | time.sleep(2.5) 30 | mc.send_angle(4, -45, 20) 31 | time.sleep(2.5) 32 | mc.send_angles([-90, 0, 0, 0, 0, 0, 40], 50) 33 | time.sleep(2.5) 34 | 35 | i = 0 36 | while i <1: 37 | main() 38 | i+=1 39 | 40 | -------------------------------------------------------------------------------- /demo/myArm_demo/xiaqi.py: -------------------------------------------------------------------------------- 1 | import time 2 | from pymycobot.myarm import MyArm 3 | 4 | mc = MyArm('/dev/ttyAMA0') 5 | time.sleep(0.1) 6 | 7 | 8 | def main(): 9 | """ 10 | 模仿myarm与人类下棋输赢状态的动作 11 | :return: None 12 | """ 13 | init_angles = [ 14 | [-60, 0, 0, -90, 0, -90, -0.79], # first init point 15 | #[0, 49, 0, -104, 0, -45, -0.79], # second init point 16 | [0, -49, 0, -100, 0, -45, -0.79], 17 | #[-0.26, 2.0, 0.43, -111.0, 0.43, 20.22, -0.79], # third 18 | [-3.16, -11.77, 0.17, -100, -0.52, -3.25, 1.23], # third 19 | [3.25, -8.61, 0.17, -99.14, 1.14, -2.81, -0.79], # left 20 | [-10.01, -6.85, 0.17, -99.49, -2.63, -2.81, 3.07], # right 21 | ] 22 | 23 | #mc.send_angles(init_angles[0], 50) 24 | 25 | #time.sleep(3) 26 | 27 | #mc.send_angles(init_angles[1], 50) 28 | #time.sleep(3) 29 | 30 | #mc.send_angles(init_angles[2], 50) 31 | #time.sleep(3) 32 | #mc.set_gservo_round(12) 33 | #time.sleep(1.5) 34 | 35 | #for i in range(5): 36 | 37 | mc.send_angles(init_angles[2], 50) 38 | time.sleep(2.5) 39 | mc.set_gservo_round(12) 40 | time.sleep(1.5) 41 | mc.send_angles(init_angles[1], 50) 42 | time.sleep(3) 43 | for i in range(3): 44 | mc.send_angles([0, -49, 0, -100, 0, -65, -0.79], 90) 45 | time.sleep(1) 46 | mc.send_angles([0, -49, 0, -100, 0, -25, -0.79], 90) 47 | time.sleep(1) 48 | #mc.send_angles(init_angles[1], 50) 49 | # time.sleep(3) 50 | 51 | 52 | #mc.send_angles(init_angles[2], 50) 53 | #time.sleep(3) 54 | # mc.set_gservo_round(12) 55 | # time.sleep(1.5) 56 | # mc.send_angles(init_angles[1], 50) 57 | # time.sleep(3) 58 | 59 | #mc.send_angles(init_angles[2], 50) 60 | # time.sleep(3) 61 | #mc.set_gservo_round(12) 62 | #time.sleep(1.5) 63 | #mc.send_angles(init_angles[1], 50) 64 | # time.sleep(3) 65 | 66 | # mc.send_angles([0.26, -2.0, 0.43, -100.0, 0.43, 20.22, -0.79], 50) 67 | #time.sleep(3) 68 | 69 | # win 70 | # for i in range(5): 71 | # mc.send_angles([0.0, -0.34, 0.17, -100.62, 0.17, 20.29, 0.08], 90) 72 | # time.sleep(1) 73 | # mc.send_angles([0.0, -0.34, 0.17, -100.62, 0.17, 20.29, 0.08], 90) 74 | # time.sleep(1) 75 | #print(init_angles[2]) 76 | 77 | # mc.send_angles(init_angles[2], 50) 78 | # time.sleep(3) 79 | # fail 80 | # mc.send_angles([0.0, -18.34, 0.17, -100.62, 0.17, -7.29, 0.08], 50) 81 | # time.sleep(3) 82 | # mc.send_angles([0.0, -18.34, 0.17, -100.62, 0.17, -26.29, 0.08], 5) 83 | # time.sleep(7) 84 | # mc.send_angle(4, -80, 30) 85 | # time.sleep(3) 86 | 87 | 88 | # mc.send_angles(init_angles[2], 50) 89 | # time.sleep(3) 90 | 91 | if __name__ == '__main__': 92 | main() 93 | -------------------------------------------------------------------------------- /demo/myCobot_280_demo/280_draw_gcode.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python 2 | # -*- coding:utf-8 -*- 3 | # This code is suitable for using the mycobot 280 M5 device to draw simple patterns 4 | # such as triangles, squares, and five-pointed stars. 5 | # It controls the movement of the robotic arm by parsing instructions in a gcode file to implement drawing operations. 6 | 7 | # Running this code requires installing the 'pymycobot' 8 | # driver library and python driver environment. 9 | # If you don't installed, please refer to here : 10 | # https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/ 11 | 12 | # The gcode trajectory file used in this code is generated by Elephant luban, please check for details: 13 | # https://docs.elephantrobotics.com/docs/ultraArm-en/3-HowToUseultraArm/2-SoftwareControl/2-Luban/2-Luban.html 14 | 15 | # import library 16 | import time 17 | from pymycobot.mycobot280 import MyCobot280 # import mycobot library,if don't have, first 'pip install pymycobot' 18 | 19 | # use PC and M5 control 20 | mc = MyCobot280('COM14', 115200) # WINDOWS use ，need check port number when you PC 21 | # mc = MyCobot('/dev/ttyUSB0',115200) # VM linux use 22 | time.sleep(0.5) 23 | 24 | # Set interpolation mode 25 | mc.set_fresh_mode(0) 26 | time.sleep(0.5) 27 | # Send the initial point angle of the robot arm, the speed is 50, 28 | # it can be customized and modified, as long as the end is facing down 29 | mc.send_angles([0, -40, -130, 80, 0, 50], 50) 30 | # Wait 3 seconds for the robot arm to move to the specified angle 31 | time.sleep(3) 32 | # Get the current coordinates of the robot arm 33 | get_coords = mc.get_coords() 34 | time.sleep(1.5) 35 | # Save the parsed coordinates 36 | data_coords = [] 37 | # Set the drawing speed to 100, and the speed range is 0~100 38 | draw_speed = 100 39 | 40 | 41 | def process_gcode(file_path): 42 | """ 43 | Parse the contents of the gcode file, extract the XYZ coordinate values, and save the coordinate data into a list 44 | :param file_path: Gcode file path 45 | :return: A coordinate list 46 | """ 47 | # The last valid coordinate, using the rx, ry, rz values 48 | # in the current coordinates of the robot arm as the starting attitude 49 | last_coords = [0.0, 0.0, 0.0, get_coords[3], get_coords[4], get_coords[5]] 50 | with open(file_path, 'r') as file: 51 | # Line-by-line processing instructions 52 | for line in file: 53 | command = line.strip() # Remove newline characters and other whitespace characters at the end of the line 54 | if command.startswith("G0") or command.startswith("G1"): # Move command 55 | coords = last_coords[:] # Copy the previous valid coordinates 56 | command_parts = command.split() 57 | for part in command_parts[1:]: 58 | if part.startswith("X") or part.startswith("x"): 59 | coords[0] = float(part[1:]) # Extract and transform X coordinate data 60 | elif part.startswith("Y") or part.startswith("y"): 61 | coords[1] = float(part[1:]) # Extract and transform Y coordinate data 62 | elif part.startswith("Z") or part.startswith("z"): 63 | coords[2] = float(part[1:]) # Extract and transform Z coordinate data 64 | if coords[0] == 0.0 and coords[1] == 0.0: # If XY data is missing, use the last valid XY coordinates 65 | coords[0] = last_coords[0] 66 | coords[1] = last_coords[1] 67 | if coords[2] == 0.0: # If Z data is missing, use the last valid Z coordinate 68 | coords[2] = last_coords[2] 69 | last_coords = coords 70 | data_coords.append(coords) # Add coordinates to list and save 71 | return data_coords 72 | 73 | 74 | type = int(input('Please input 1-4（1-square 2-triangle 3-five point star 4-quit）:')) 75 | if type == 1: 76 | # Pass in the gcode file path and obtain the coordinate data 77 | # File path can be customized 78 | coords_data = process_gcode('square.nc') 79 | # Send coordinates to the robot arm one by one 80 | for i in coords_data: 81 | mc.send_coords(i, draw_speed, 1) # Send coordinates to the robot arm 82 | time.sleep(3.5) # Wait 3.5 seconds for the robot arm movement to complete 83 | elif type == 2: 84 | coords_data = process_gcode('triangle.nc') 85 | for i in coords_data: 86 | mc.send_coords(i, draw_speed, 1) 87 | time.sleep(3.5) 88 | elif type == 3: 89 | coords_data = process_gcode('five_point_star.nc') 90 | for i in coords_data: 91 | mc.send_coords(i, draw_speed, 1) 92 | time.sleep(3.5) 93 | elif type == 4: 94 | exit(0) 95 | -------------------------------------------------------------------------------- /demo/myCobot_280_demo/five_point_star.nc: -------------------------------------------------------------------------------- 1 | G90 2 | G4 S1 3 | G01 x170 y0 z60 F15 4 | G4 S1 5 | G0 Y-32.03 X195.54 6 | G0 Z49.00 7 | G1 Y-9.66 X195.54 8 | G1 Y-2.75 X215.61 9 | G1 Y4.16 X195.54 10 | G1 Y26.52 X195.54 11 | G1 Y8.43 X183.14 12 | G1 Y15.34 X163.08 13 | G1 Y-2.75 X175.48 14 | G1 Y-20.84 X163.08 15 | G1 Y-13.93 X183.14 16 | G1 Y-32.03 X195.54 17 | G0 Z70.00 18 | G0 Y-2.75 X189.34 19 | M21 P0 -------------------------------------------------------------------------------- /demo/myCobot_280_demo/square.nc: -------------------------------------------------------------------------------- 1 | G90 2 | G4 S1 3 | G01 X170 Y0 Z60 F15 4 | G4 S1 5 | G0 Y-18.33 X204.06 6 | G0 Z50.00 7 | G1 Y16.67 X204.06 8 | G1 Y16.67 X169.06 9 | G1 Y-18.33 X169.06 10 | G1 Y-18.33 X204.06 11 | G0 Z75.00 12 | G0 Y-0.83 X186.56 13 | M21 P0 -------------------------------------------------------------------------------- /demo/myCobot_280_demo/triangle.nc: -------------------------------------------------------------------------------- 1 | G90 2 | G4 S1 3 | G01 X170 Y0 Z60 F15 4 | G4 S1 5 | G0 Y18.54 X168.58 6 | G0 Z49.00 7 | G1 Y-18.07 X168.58 8 | G1 Y18.54 X204.81 9 | G1 Y18.54 X168.58 10 | G0 Z70.00 11 | G0 Y0.24 X186.69 12 | M21 P0 -------------------------------------------------------------------------------- /demo/myCobot_320_demo/myCobot_320_servo_info.py: -------------------------------------------------------------------------------- 1 | # encoding=utf-8 2 | import os 3 | import sys 4 | sys.path.append(os.getcwd()) 5 | 6 | import matplotlib.pyplot as plt 7 | import matplotlib.font_manager as font_manager 8 | 9 | from pymycobot import MyCobot320 10 | 11 | mc = MyCobot320("COM12", 115200) 12 | 13 | POINTS = 7 14 | sin_list = [0] * (POINTS -1) 15 | indx = 0 16 | 17 | fig, ax = plt.subplots() 18 | ax.set_ylim([0, 3250]) 19 | ax.set_xlim([1, 6]) 20 | ax.set_autoscale_on(False) 21 | ax.set_xticks(range(0, 3250, 500)) 22 | ax.set_yticks(range(0, 11, 1)) 23 | ax.grid(True) 24 | 25 | line_sin, = ax.plot([i for i in range(1,POINTS)], sin_list, label='Current', color='cornflowerblue') 26 | ax.legend(loc='upper center', ncol=4, prop=font_manager.FontProperties(size=10)) 27 | 28 | def sin_output(ax): 29 | global sin_list, line_sin 30 | sin_list = sin_list[1:] + mc.get_servo_currents() # get current 31 | # print(sin_list) 32 | line_sin.set_ydata(sin_list) 33 | ax.draw_artist(line_sin) 34 | ax.figure.canvas.draw() 35 | 36 | timer = fig.canvas.new_timer(interval=100) 37 | timer.add_callback(sin_output, ax) 38 | timer.start() 39 | plt.show() -------------------------------------------------------------------------------- /demo/mybuddy_demo/emoticon.md: -------------------------------------------------------------------------------- 1 | # Instructions for playing animations on MyBuddy screen. 2 | [中文] 3 | 1. 将[视频文件](emoticon.zip)和[案例代码](./mybuddy_emoticon_demo.py)下载并且解压到mybuddy系统内 4 | 5 | 2. 更改案例`pymycobot/demo/mybuddy_demo/mybuddy_emoticon_demo.py`文件, 6 | 7 | 将`/home/er/pymycobot/emo/face_video_3_2.mp4`替换成解压出来的视频文件路径 8 | ```python 9 | from pymycobot import MyBuddyEmoticon 10 | import time 11 | 12 | # [video_path, Playback_duration(s)] 13 | video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10] 14 | 15 | datas = [video1] 16 | 17 | me = MyBuddyEmoticon(datas) 18 | ... 19 | ``` 20 | 3. 执行mybuddy_emoticon_demo.py即可 21 | [API说明文档](../../docs/mybuddy_emoticon.md) 22 | --- 23 | [English] 24 | 1. Download and unzip [video file](emoticon.zip) and [case code](./mybuddy_emoticon_demo.py) into the mybuddy system 25 | 26 | 2. Change the case `pymycobot/demo/mybuddy_demo/mybuddy_emoticon_demo.py` file, 27 | 28 | Replace `/home/er/pymycobot/emo/face_video_3_2.mp4` with the decompressed video file path 29 | ```python 30 | from pymycobot import MyBuddyEmoticon 31 | import time 32 | 33 | # [video_path, Playback_duration(s)] 34 | video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10] 35 | 36 | datas = [video1] 37 | 38 | me = MyBuddyEmoticon(datas) 39 | ... 40 | ``` 41 | 3. Execute mybuddy_emoticon_demo.py 42 | 43 | [API document](../../docs/mybuddy_emoticon.md) 44 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/emoticon.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/mybuddy_demo/emoticon.zip -------------------------------------------------------------------------------- /demo/mybuddy_demo/gpio_test.py: -------------------------------------------------------------------------------- 1 | #coding=utf-8 2 | from pymycobot import MyBuddy 3 | import time 4 | 5 | 6 | 7 | mc = MyBuddy('/dev/ttyACM0',115200,debug=False) 8 | mc.set_gpio_init_mode(0) 9 | 10 | def pump_init_1(i,j): 11 | mc.set_gpio_setup(i,0) 12 | mc.set_gpio_setup(j,0) 13 | 14 | def pump_init_1(i,j): 15 | mc.set_gpio_setup(i,1) 16 | mc.set_gpio_setup(j,1) 17 | def pump_on(i,j): 18 | mc.set_gpio_output(i,0) 19 | mc.set_gpio_output(j,0) 20 | 21 | def pump_off(i,j): 22 | mc.set_gpio_output(i,1) 23 | mc.set_gpio_output(j,1) 24 | 25 | 26 | 27 | #It is used to check the input/output status of each I/O interface 28 | for k in range(1,17): 29 | mc.set_gpio_setup(k,0) 30 | 31 | 32 | while 1: 33 | _a = '' 34 | for k in range(1,17): 35 | _a += str(mc.get_gpio_input(k)) 36 | time.sleep(1) 37 | print(_a) -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/ChewingGum.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | # Establish serial connection 9 | mc = MyBuddy('/dev/ttyACM0', 115200) 10 | 11 | 12 | 13 | # Release the arms and record the points passed 14 | def read(): 15 | time.sleep(10) 16 | t = time.time() 17 | record_list = [] 18 | print(1) 19 | while time.time() - t < 5: 20 | angles_1 = mc.get_encoders(1) 21 | angles_2 = mc.get_encoders(2) 22 | if angles_1 and angles_2: 23 | record_list.append([angles_1, angles_2]) 24 | time.sleep(0.1) 25 | # Print the read location information, copy and save it as a txt file 26 | for i in record_list: 27 | print(i) 28 | 29 | 30 | # Take out and use the saved location 31 | def write(): 32 | time.sleep(1.5) 33 | # The file here uses the saved txt file 34 | data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum.txt')).read().splitlines())) 35 | for angles in data: 36 | data = eval(angles)[0] 37 | data[4] -= 280 38 | mc.set_encoders(1, data, 100) 39 | time.sleep(0.03) 40 | mc.set_encoders(2, eval(angles)[1], 100) 41 | time.sleep(0.2) 42 | time.sleep(1.5) 43 | mc.set_gripper_state(2, 1) 44 | time.sleep(1.5) 45 | # The file here uses the saved txt file 46 | data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum_2.txt')).read().splitlines())) 47 | for angles in data: 48 | data = eval(angles)[0] 49 | data[4] -= 280 50 | mc.set_encoders(1, data, 100) 51 | time.sleep(0.03) 52 | mc.set_encoders(2, eval(angles)[1], 100) 53 | time.sleep(0.2) 54 | time.sleep(1.5) 55 | mc.set_gripper_state(2, 0) 56 | time.sleep(1.5) 57 | # The file here uses the saved txt file 58 | data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum_3.txt')).read().splitlines())) 59 | for angles in data: 60 | data = eval(angles)[0] 61 | data[4] -= 280 62 | mc.set_encoders(1, data, 100) 63 | time.sleep(0.03) 64 | mc.set_encoders(2, eval(angles)[1], 100) 65 | time.sleep(0.2) 66 | 67 | 68 | # show emoji 69 | def smile(): 70 | # The location where the emoji file is stored 71 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 72 | out_win = "l" 73 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 74 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 75 | # infinite loop 76 | while True: 77 | ret, frame = cap.read() 78 | if frame is not None: 79 | print(1) 80 | cv.imshow(out_win, frame) 81 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 82 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 83 | 84 | 85 | if __name__ == '__main__': 86 | # run with multithreading 87 | t1 = threading.Thread(target=write) 88 | t2 = threading.Thread(target=smile) 89 | t1.start() 90 | t2.start() 91 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/ChewingGum.txt: -------------------------------------------------------------------------------- 1 | [[2221, 1326, 2898, 3454, 3191, 1891], [1910, 2804, 1191, 605, 1108, 2685]] 2 | [[2221, 1326, 2898, 3454, 3191, 1891], [1910, 2804, 1191, 605, 1108, 2685]] 3 | [[2221, 1326, 2898, 3452, 3191, 1891], [1910, 2804, 1191, 605, 1108, 2685]] 4 | [[2221, 1326, 2898, 3451, 3191, 1891], [1910, 2803, 1191, 613, 1110, 2685]] 5 | [[2226, 1326, 2898, 3441, 3179, 1891], [1901, 2775, 1191, 647, 1127, 2685]] 6 | [[2232, 1326, 2896, 3433, 3169, 1890], [1885, 2665, 1191, 773, 1158, 2685]] 7 | [[2248, 1326, 2896, 3424, 3152, 1888], [1833, 2544, 1190, 928, 1219, 2685]] 8 | [[2266, 1326, 2895, 3423, 3128, 1888], [1755, 2431, 1190, 1091, 1309, 2685]] 9 | [[2288, 1326, 2895, 3415, 3101, 1888], [1635, 2318, 1190, 1284, 1465, 2685]] 10 | [[2291, 1326, 2895, 3406, 3093, 1886], [1449, 2238, 1190, 1459, 1687, 2685]] 11 | [[2291, 1326, 2895, 3400, 3090, 1885], [1319, 2227, 1190, 1598, 1901, 2685]] 12 | [[2291, 1326, 2895, 3400, 3090, 1885], [1249, 2230, 1190, 1714, 2072, 2685]] 13 | [[2291, 1326, 2895, 3396, 3089, 1885], [1242, 2241, 1190, 1787, 2171, 2685]] 14 | [[2291, 1326, 2895, 3393, 3091, 1885], [1259, 2334, 1190, 1730, 2199, 2685]] 15 | [[2297, 1328, 2895, 3393, 3093, 1885], [1273, 2388, 1190, 1740, 2231, 2684]] 16 | [[2301, 1327, 2895, 3389, 3092, 1885], [1274, 2435, 1190, 1719, 2228, 2678]] 17 | [[2301, 1327, 2895, 3384, 3091, 1885], [1283, 2474, 1190, 1688, 2204, 2670]] 18 | [[2301, 1327, 2895, 3378, 3091, 1885], [1288, 2487, 1190, 1680, 2202, 2666]] 19 | [[2301, 1327, 2895, 3377, 3092, 1885], [1293, 2487, 1190, 1680, 2200, 2666]] 20 | [[2301, 1327, 2895, 3375, 3091, 1885], [1293, 2487, 1190, 1679, 2194, 2666]] 21 | [[2301, 1327, 2895, 3376, 3091, 1885], [1293, 2487, 1190, 1681, 2194, 2666]] 22 | [[2301, 1327, 2895, 3377, 3093, 1885], [1293, 2487, 1190, 1681, 2193, 2666]] 23 | [[2301, 1327, 2895, 3378, 3093, 1885], [1293, 2487, 1190, 1685, 2195, 2666]] 24 | [[2301, 1327, 2895, 3378, 3094, 1885], [1293, 2487, 1190, 1687, 2195, 2666]] 25 | [[2301, 1327, 2894, 3378, 3094, 1885], [1293, 2487, 1190, 1689, 2196, 2666]] -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/ChewingGum_3.txt: -------------------------------------------------------------------------------- 1 | [[2309, 1238, 2856, 3496, 3076, 1839], [1443, 2384, 1010, 1531, 2064, 2762]] 2 | [[2309, 1238, 2856, 3494, 3076, 1839], [1446, 2384, 1010, 1535, 2067, 2760]] 3 | [[2309, 1238, 2856, 3493, 3076, 1839], [1446, 2384, 1010, 1532, 2073, 2759]] 4 | [[2309, 1238, 2856, 3492, 3076, 1839], [1443, 2384, 1010, 1533, 2077, 2758]] 5 | [[2309, 1238, 2856, 3492, 3077, 1839], [1441, 2384, 1010, 1521, 2074, 2756]] 6 | [[2309, 1238, 2856, 3492, 3077, 1839], [1441, 2384, 1010, 1519, 2066, 2756]] 7 | [[2309, 1238, 2856, 3492, 3077, 1839], [1442, 2382, 1010, 1517, 2065, 2756]] 8 | [[2309, 1238, 2856, 3492, 3077, 1839], [1444, 2382, 1010, 1513, 2064, 2756]] 9 | [[2309, 1238, 2856, 3492, 3077, 1839], [1447, 2381, 1010, 1479, 2046, 2756]] 10 | [[2309, 1238, 2856, 3492, 3080, 1839], [1448, 2371, 1010, 1466, 2027, 2755]] 11 | [[2309, 1238, 2856, 3489, 3076, 1839], [1448, 2317, 1010, 1500, 2012, 2754]] 12 | [[2309, 1238, 2856, 3489, 3074, 1839], [1449, 2243, 1010, 1522, 1970, 2752]] 13 | [[2309, 1238, 2856, 3489, 3073, 1839], [1458, 2173, 1010, 1524, 1893, 2752]] 14 | [[2309, 1238, 2856, 3489, 3072, 1839], [1501, 2161, 1010, 1379, 1749, 2754]] 15 | [[2309, 1238, 2856, 3488, 3071, 1839], [1591, 2161, 1010, 1266, 1601, 2753]] 16 | [[2309, 1238, 2856, 3487, 3071, 1839], [1708, 2164, 1008, 1155, 1430, 2753]] 17 | [[2309, 1238, 2856, 3487, 3073, 1839], [1826, 2219, 1008, 1057, 1283, 2756]] 18 | [[2309, 1238, 2856, 3488, 3075, 1839], [1885, 2328, 1008, 920, 1205, 2753]] 19 | [[2305, 1238, 2856, 3488, 3081, 1840], [1914, 2453, 1008, 816, 1170, 2756]] 20 | [[2303, 1238, 2856, 3489, 3086, 1840], [1909, 2571, 1009, 708, 1166, 2756]] 21 | [[2291, 1238, 2856, 3489, 3098, 1840], [1907, 2644, 1010, 645, 1163, 2763]] 22 | [[2282, 1238, 2856, 3491, 3108, 1840], [1907, 2675, 1010, 603, 1150, 2772]] 23 | [[2282, 1238, 2856, 3496, 3110, 1841], [1907, 2703, 1010, 605, 1161, 2772]] 24 | [[2278, 1240, 2856, 3498, 3113, 1844], [1907, 2704, 1010, 609, 1164, 2771]] 25 | [[2271, 1241, 2856, 3493, 3123, 1845], [1907, 2704, 1010, 609, 1168, 2771]] -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/README.md: -------------------------------------------------------------------------------- 1 | # This is Python Demo for myBuddy 2 | 3 | ## Firmware Requirements: The latest firmware will do 4 | 5 | ## catch_the_ball 6 | 7 | Use myBuddy's hands to grab the ball on the table, move back and forth. 8 | 9 | ## ChewingGum 10 | 11 | Use the gripper to pour the chewing gum out of the table. 12 | 13 | ## comeOn 14 | 15 | Cheer up with red flag in both hands. 16 | 17 | ## psydack 18 | 19 | psyduck dance. 20 | 21 | ## pass_the_ball 22 | 23 | Pass the ball with both hands. 24 | 25 | ## petCat 26 | 27 | pet the cat 28 | 29 | ## piano 30 | 31 | myBuddy plays the song. 32 | 33 | ## play_ball_cooperatively 34 | 35 | myBuddy spins a ball with both hands. 36 | 37 | ## praise 38 | 39 | myBuddy making a thumbs up gesture. 40 | 41 | ## reject 42 | 43 | myBuddy gesture of rejection with both hands. 44 | 45 | ## symphony 46 | 47 | myBuddy conducts like a musician. 48 | 49 | ## thanHeart 50 | 51 | myBuddy making a heart gesture with both hands. 52 | 53 | ## dence 54 | 55 | myBuddy's dance. -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/catch_the_ball.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | # Establish serial connection 10 | mc = MyBuddy('/dev/ttyACM0', 115200) 11 | 12 | 13 | # Release the arms and record the points passed 14 | def read(): 15 | time.sleep(10) 16 | t = time.time() 17 | record_list = [] 18 | print(1) 19 | while time.time() - t < 40: 20 | angles_1 = mc.get_encoders(1) 21 | angles_2 = mc.get_encoders(2) 22 | if angles_1 and angles_2: 23 | record_list.append([angles_1, angles_2]) 24 | time.sleep(0.1) 25 | # Print the read location information, copy and save it as a txt file 26 | for i in record_list: 27 | print(i) 28 | 29 | 30 | # Take out and use the saved location 31 | def write(): 32 | time.sleep(1.5) 33 | mc.power_on() 34 | # The file here uses the saved txt file 35 | data = list(filter(None, open(os.path.join(os.getcwd(), 'catch_the_ball.txt')).read().splitlines())) 36 | # infinite loop 37 | while True: 38 | for angles in data: 39 | print(angles) 40 | mc.set_encoders(1, eval(angles)[0], 80) 41 | time.sleep(0.05) 42 | mc.set_encoders(2, eval(angles)[1], 80) 43 | time.sleep(0.1) 44 | 45 | 46 | # show emoji 47 | def smile(): 48 | # The location where the emoji file is stored 49 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 50 | out_win = "l" 51 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 52 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 53 | # infinite loop 54 | while True: 55 | ret, frame = cap.read() 56 | if frame is not None: 57 | cv.imshow(out_win, frame) 58 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 59 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 60 | 61 | 62 | if __name__ == '__main__': 63 | # run with multithreading 64 | t1 = threading.Thread(target=write) 65 | t2 = threading.Thread(target=smile) 66 | t1.start() 67 | t2.start() 68 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/comeOn.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | 15 | # Release the arms and record the points passed 16 | def read(): 17 | time.sleep(10) 18 | t = time.time() 19 | record_list = [] 20 | print(1) 21 | while time.time() - t < 20: 22 | angles_1 = mc.get_encoders(1) 23 | angles_2 = mc.get_encoders(2) 24 | if angles_1 and angles_2: 25 | record_list.append([angles_1, angles_2]) 26 | time.sleep(0.1) 27 | 28 | # Print the read location information, copy and save it as a txt file 29 | for i in record_list: 30 | print(i) 31 | 32 | 33 | # Take out and use the saved location 34 | def write(): 35 | time.sleep(1.5) 36 | # The file here uses the saved txt file 37 | data = list(filter(None, open(os.path.join(os.getcwd(), 'data_comeOn2.txt')).read().splitlines())) 38 | # infinite loop 39 | while True: 40 | for angles in data: 41 | print(angles) 42 | mc.set_encoders(1, eval(angles)[0], 80) 43 | time.sleep(0.05) 44 | mc.set_encoders(2, eval(angles)[1], 80) 45 | time.sleep(0.1) 46 | 47 | 48 | # show emoji 49 | def smile(): 50 | # The location where the emoji file is stored 51 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 52 | out_win = "l" 53 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 54 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 55 | # infinite loop 56 | while True: 57 | ret, frame = cap.read() 58 | if frame is not None: 59 | print(1) 60 | cv.imshow(out_win, frame) 61 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 62 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 63 | 64 | 65 | if __name__ == '__main__': 66 | # run with multithreading 67 | t1 = threading.Thread(target=write) 68 | t2 = threading.Thread(target=smile) 69 | t1.start() 70 | t2.start() 71 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/dack.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import time 3 | from pymycobot.mybuddy import MyBuddy 4 | import threading 5 | from threading import Lock, Thread 6 | import cv2 as cv 7 | 8 | 9 | # Establish serial connection 10 | mc = MyBuddy('/dev/ttyACM0', 115200) 11 | time.sleep(1.5) 12 | 13 | 14 | def run(): 15 | while True: 16 | mc.set_encoders(1, [18, 2028, 1024, 2087, 3088, 1024], 100) 17 | time.sleep(0.05) 18 | mc.set_encoders(2, [1994, 2098, 3072, 2027, 1088, 3072], 100) 19 | time.sleep(0.01) 20 | mc.set_encoder(3, 1, 1548, 100) 21 | time.sleep(3) 22 | mc.set_encoders(1, [2026, 2028, 1024, 2112, 3088, 1024], 100) 23 | time.sleep(0.05) 24 | mc.set_encoders(2, [3980, 2098, 3076, 2022, 1088, 3072], 100) 25 | time.sleep(0.01) 26 | mc.set_encoder(3, 1, 2548, 100) 27 | time.sleep(3) 28 | 29 | 30 | # show emoji 31 | def smile(): 32 | # The location where the emoji file is stored 33 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 34 | out_win = "l" 35 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 36 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 37 | while True: 38 | ret, frame = cap.read() 39 | if frame is not None: 40 | print(1) 41 | cv.imshow(out_win, frame) 42 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 43 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 44 | 45 | 46 | if __name__ == '__main__': 47 | # run with multithreading 48 | t1 = threading.Thread(target=run) 49 | t2 = threading.Thread(target=smile) 50 | t1.start() 51 | t2.start() 52 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/dance.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | # Establish serial connection 10 | mc = MyBuddy('/dev/ttyACM0', 115200) 11 | 12 | t = 1 13 | 14 | 15 | def run(): 16 | while True: 17 | mc.send_angles(1, [0, 0, 0, 0, 0, 0], 50) 18 | time.sleep(0.05) 19 | mc.send_angles(2, [0, 0, 0, 0, 0, 0], 50) 20 | time.sleep(2 * t) 21 | mc.send_angles(1, [0, 0, 90, 0, 0, 0], 50) 22 | time.sleep(0.05) 23 | mc.send_angles(2, [0, 0, -90, 0, 0, 0], 50) 24 | time.sleep(2 * t) 25 | for i in range(3): 26 | mc.send_angles(1, [0, 0, 115, 0, 0, 0], 50) 27 | time.sleep(0.05) 28 | mc.send_angles(2, [0, 0, -65, 0, 0, 0], 50) 29 | time.sleep(2 * t) 30 | mc.send_angles(1, [0, 0, -115, 0, 0, 0], 50) 31 | time.sleep(0.05) 32 | mc.send_angles(2, [0, 0, 65, 0, 0, 0], 50) 33 | time.sleep(2 * t) 34 | 35 | for i in range(3): 36 | mc.send_angles(1, [45, 0, 90, 0, 0, 0], 50) 37 | time.sleep(0.05) 38 | mc.send_angles(2, [-45, 0, -90, 0, 0, 0], 50) 39 | time.sleep(2 * t) 40 | mc.send_angles(1, [-45, 0, 90, 0, 0, 0], 50) 41 | time.sleep(0.05) 42 | mc.send_angles(2, [45, 0, -90, 0, 0, 0], 50) 43 | time.sleep(2 * t) 44 | mc.send_angles(1, [180, 0, 90, 0, 0, 0], 50) 45 | time.sleep(0.05) 46 | mc.send_angles(2, [-180, 0, -90, 0, 0, 0], 50) 47 | time.sleep(2 * t) 48 | for i in range(3): 49 | mc.send_angles(1, [180, 0, 135, 0, 0, 0], 50) 50 | time.sleep(0.05) 51 | mc.send_angles(2, [-180, 0, -45, 0, 0, 0], 50) 52 | time.sleep(2 * t) 53 | mc.send_angles(1, [180, 0, 45, 0, 0, 0], 50) 54 | time.sleep(0.05) 55 | mc.send_angles(2, [-180, 0, -135, 0, 0, 0], 50) 56 | time.sleep(2 * t) 57 | 58 | 59 | # show emoji 60 | def smile(): 61 | # The location where the emoji file is stored 62 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 63 | out_win = "l" 64 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 65 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 66 | # infinite loop 67 | while True: 68 | ret, frame = cap.read() 69 | if frame is not None: 70 | cv.imshow(out_win, frame) 71 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 72 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 73 | 74 | 75 | if __name__ == '__main__': 76 | # run with multithreading 77 | t1 = threading.Thread(target=run()) 78 | t2 = threading.Thread(target=smile) 79 | t1.start() 80 | t2.start() 81 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/pass_the_ball.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | # Establish serial connection 10 | mc = MyBuddy('/dev/ttyACM0', 115200) 11 | 12 | 13 | def run(): 14 | # infinite loop 15 | while True: 16 | en1 = [3033, 1558, 2854, 1233, 193, 1024] 17 | en2 = [1064, 2324, 1061, 2737, 3882, 67] 18 | mc.set_encoders(1, en1, 10) 19 | time.sleep(0.05) 20 | mc.set_encoders(2, en2, 10) 21 | time.sleep(5) 22 | 23 | _en2 = [962, 3061, 1182, 2172, 3877, 115] 24 | _en1 = [3203, 908, 2679, 1690, 368, 969] 25 | mc.set_encoders(2, _en2, 10) 26 | time.sleep(5) 27 | _en2[5] += 500 28 | mc.set_encoders(2, _en2, 4) 29 | time.sleep(7) 30 | _en2[5] -= 500 31 | mc.set_encoders(2, _en2, 10) 32 | time.sleep(3) 33 | mc.set_encoders(2, en2, 10) 34 | time.sleep(5) 35 | mc.set_encoders(1, _en1, 10) 36 | time.sleep(5) 37 | _en1[5] -= 350 38 | mc.set_encoders(1, _en1, 4) 39 | time.sleep(5) 40 | _en1[5] += 350 41 | mc.set_encoders(1, _en1, 10) 42 | time.sleep(4) 43 | mc.set_encoders(1, en1, 10) 44 | time.sleep(5) 45 | 46 | 47 | # show emoji 48 | def smile(): 49 | # The location where the emoji file is stored 50 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 51 | out_win = "l" 52 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 53 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 54 | # infinite loop 55 | while True: 56 | ret, frame = cap.read() 57 | # print(frame) 58 | if frame is not None: 59 | print(1) 60 | cv.imshow(out_win, frame) 61 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 62 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 63 | 64 | 65 | if __name__ == '__main__': 66 | # run with multithreading 67 | t1 = threading.Thread(target=run) 68 | t2 = threading.Thread(target=smile) 69 | t1.start() 70 | t2.start() 71 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/petCat.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock,Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | # Release the arms and record the points passed 15 | def read(): 16 | time.sleep(10) 17 | t = time.time() 18 | record_list = [] 19 | print(1) 20 | while time.time() - t <20: 21 | angles_1 = mc.get_encoders(1) 22 | angles_2 = mc.get_encoders(2) 23 | if angles_1 and angles_2: 24 | record_list.append([angles_1, angles_2]) 25 | time.sleep(0.1) 26 | 27 | # Print the read location information, copy and save it as a txt file 28 | for i in record_list: 29 | print(i) 30 | 31 | 32 | # Take out and use the saved location 33 | def write(): 34 | time.sleep(1.5) 35 | # The file here uses the saved txt file 36 | data = list(filter(None,open(os.path.join(os.getcwd(),'petCat.txt')).read().splitlines())) 37 | # infinite loop 38 | while True: 39 | for angles in data: 40 | print(angles) 41 | mc.set_encoders(1, eval(angles)[0], 100) 42 | time.sleep(0.03) 43 | mc.set_encoders(2, eval(angles)[1], 100) 44 | time.sleep(0.2) 45 | 46 | # show emoji 47 | def smile(): 48 | # The location where the emoji file is stored 49 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 50 | out_win = "l" 51 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 52 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 53 | # infinite loop 54 | while True: 55 | ret, frame = cap.read() 56 | if frame is not None: 57 | print(1) 58 | cv.imshow(out_win, frame) 59 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 60 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 61 | 62 | 63 | if __name__ == '__main__': 64 | # run with multithreading 65 | t1 = threading.Thread(target=write) 66 | t2 = threading.Thread(target=smile) 67 | t1.start() 68 | t2.start() -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/piano.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | def one(): 15 | mc.set_encoders(1, [3169, 1439, 3383, 3033, 1045, 2042], 5) 16 | time.sleep(0.3) 17 | mc.set_encoders(1, [3029, 1439, 3383, 3033, 1045, 2042], 5) 18 | time.sleep(0.3) 19 | mc.set_encoders(1, [3169, 1439, 3383, 3033, 1045, 2042], 5) 20 | time.sleep(0.3) 21 | 22 | 23 | def tow(): 24 | mc.set_encoders(1, [3169, 1281, 3299, 3102, 1047, 2021], 5) 25 | time.sleep(0.3) 26 | mc.set_encoders(1, [3029, 1281, 3299, 3102, 1047, 2021], 5) 27 | time.sleep(0.3) 28 | mc.set_encoders(1, [3169, 1281, 3299, 3102, 1047, 2021], 5) 29 | time.sleep(0.3) 30 | 31 | 32 | def three(): 33 | mc.set_encoders(1, [3169, 1115, 3193, 3123, 1047, 2036], 5) 34 | time.sleep(0.3) 35 | mc.set_encoders(1, [3029, 1115, 3193, 3123, 1047, 2036], 5) 36 | time.sleep(0.3) 37 | mc.set_encoders(1, [3169, 1115, 3193, 3123, 1047, 2036], 5) 38 | time.sleep(0.3) 39 | 40 | 41 | def four(): 42 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 43 | time.sleep(0.3) 44 | mc.set_encoders(1, [3029, 969, 2984, 3027, 1040, 2091], 5) 45 | time.sleep(0.3) 46 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 47 | time.sleep(0.3) 48 | 49 | 50 | def five(): 51 | mc.set_encoders(2, [949, 3068, 974, 1032, 3001, 2076], 5) 52 | time.sleep(0.3) 53 | mc.set_encoders(2, [1049, 3068, 974, 1032, 3001, 2076], 5) 54 | time.sleep(0.3) 55 | mc.set_encoders(2, [949, 3068, 974, 1032, 3001, 2076], 5) 56 | time.sleep(0.3) 57 | 58 | 59 | def six(): 60 | mc.set_encoders(2, [944, 3068, 974, 959, 3001, 2000], 5) 61 | time.sleep(0.3) 62 | mc.set_encoders(2, [1044, 3068, 974, 959, 3001, 2000], 5) 63 | time.sleep(0.3) 64 | mc.set_encoders(2, [944, 3068, 974, 959, 3001, 2000], 5) 65 | time.sleep(0.3) 66 | 67 | 68 | def seven(): 69 | mc.set_encoders(2, [3328, 1609, 3064, 1426, 1383, 1301], 5) 70 | time.sleep(0.3) 71 | mc.set_encoders(2, [3628, 1609, 3064, 1426, 1383, 1301], 5) 72 | time.sleep(0.3) 73 | 74 | 75 | def eight(): 76 | mc.set_encoders(2, [3259, 1613, 2839, 1187, 1337, 1300], 5) 77 | time.sleep(0.3) 78 | mc.set_encoders(2, [3659, 1613, 2839, 1187, 1337, 1300], 5) 79 | time.sleep(0.3) 80 | 81 | 82 | def run(): 83 | one() 84 | one() 85 | five() 86 | five() 87 | six() 88 | six() 89 | five() 90 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 91 | time.sleep(1) 92 | four() 93 | four() 94 | three() 95 | three() 96 | tow() 97 | tow() 98 | one() 99 | time.sleep(1) 100 | five() 101 | five() 102 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 103 | time.sleep(0.7) 104 | four() 105 | four() 106 | three() 107 | three() 108 | tow() 109 | time.sleep(1) 110 | five() 111 | five() 112 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 113 | time.sleep(1) 114 | four() 115 | four() 116 | three() 117 | three() 118 | tow() 119 | time.sleep(1) 120 | one() 121 | one() 122 | five() 123 | five() 124 | six() 125 | six() 126 | five() 127 | mc.set_encoders(1, [3169, 969, 2984, 3027, 1040, 2091], 5) 128 | time.sleep(1) 129 | four() 130 | four() 131 | three() 132 | three() 133 | tow() 134 | tow() 135 | one() 136 | 137 | 138 | # show emoji 139 | def smile(): 140 | # The location where the emoji file is stored 141 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 142 | out_win = "l" 143 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 144 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 145 | # infinite loop 146 | while True: 147 | ret, frame = cap.read() 148 | if frame is not None: 149 | print(1) 150 | cv.imshow(out_win, frame) 151 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 152 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 153 | 154 | 155 | if __name__ == '__main__': 156 | # run with multithreading 157 | t1 = threading.Thread(target=run) 158 | t2 = threading.Thread(target=smile) 159 | t1.start() 160 | t2.start() 161 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/play_ball_cooperatively.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | import cv2 as cv 7 | 8 | 9 | # Establish serial connection 10 | mc = MyBuddy('/dev/ttyACM0', 115200) 11 | 12 | 13 | 14 | # Release the arms and record the points passed 15 | def read(): 16 | time.sleep(10) 17 | t = time.time() 18 | record_list = [] 19 | print(1) 20 | while time.time() - t < 15: 21 | angles_1 = mc.get_encoders(1) 22 | angles_2 = mc.get_encoders(2) 23 | if angles_1 and angles_2: 24 | record_list.append([angles_1, angles_2]) 25 | time.sleep(0.1) 26 | 27 | # Print the read location information, copy and save it as a txt file 28 | for i in record_list: 29 | print(i) 30 | 31 | 32 | # Take out and use the saved location 33 | def write(): 34 | time.sleep(1.5) 35 | # The file here uses the saved txt file 36 | data = list(filter(None, open(os.path.join(os.getcwd(), 'play_ball_cooperatively.txt')).read().splitlines())) 37 | # infinite loop 38 | while True: 39 | for angles in data: 40 | print(angles) 41 | mc.set_encoders(1, eval(angles)[0], 100) 42 | time.sleep(0.03) 43 | mc.set_encoders(2, eval(angles)[1], 100) 44 | time.sleep(0.2) 45 | 46 | 47 | # show emoji 48 | def smile(): 49 | # The location where the emoji file is stored 50 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 51 | out_win = "l" 52 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 53 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 54 | # infinite loop 55 | while True: 56 | ret, frame = cap.read() 57 | if frame is not None: 58 | print(1) 59 | cv.imshow(out_win, frame) 60 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 61 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 62 | 63 | 64 | if __name__ == '__main__': 65 | # run with multithreading 66 | t1 = threading.Thread(target=write) 67 | t2 = threading.Thread(target=smile) 68 | t1.start() 69 | t2.start() 70 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/praise.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | 15 | # Release the arms and record the points passed 16 | def read(): 17 | time.sleep(3) 18 | mc.release_all_servos() 19 | time.sleep(10) 20 | t = time.time() 21 | record_list = [] 22 | print(1) 23 | while time.time() - t < 15: 24 | angles_1 = mc.get_encoders(1) 25 | angles_2 = mc.get_encoders(2) 26 | if angles_1 and angles_2: 27 | record_list.append([angles_1, angles_2]) 28 | time.sleep(0.1) 29 | 30 | # Print the read location information, copy and save it as a txt file 31 | for i in record_list: 32 | print(i) 33 | 34 | 35 | # Take out and use the saved location 36 | def write(): 37 | time.sleep(1.5) 38 | # The file here uses the saved txt file 39 | data = list(filter(None, open(os.path.join(os.getcwd(), 'praise.txt')).read().splitlines())) 40 | 41 | for angles in data: 42 | print(angles) 43 | mc.set_encoders(1, eval(angles)[0], 100) 44 | time.sleep(0.05) 45 | mc.set_encoders(2, eval(angles)[1], 100) 46 | time.sleep(0.1) 47 | 48 | 49 | def smile(): 50 | # The location where the emoji file is stored 51 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 52 | out_win = "l" 53 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 54 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 55 | # infinite loop 56 | while True: 57 | ret, frame = cap.read() 58 | if frame is not None: 59 | print(1) 60 | cv.imshow(out_win, frame) 61 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 62 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 63 | 64 | 65 | if __name__ == '__main__': 66 | # run with multithreading 67 | t1 = threading.Thread(target=write) 68 | t2 = threading.Thread(target=smile) 69 | t1.start() 70 | t2.start() -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/reject.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | 15 | # Release the arms and record the points passed 16 | def read(): 17 | time.sleep(10) 18 | t = time.time() 19 | record_list = [] 20 | print(1) 21 | while time.time() - t < 10: 22 | angles_1 = mc.get_encoders(1) 23 | angles_2 = mc.get_encoders(2) 24 | if angles_1 and angles_2: 25 | record_list.append([angles_1, angles_2]) 26 | time.sleep(0.1) 27 | 28 | # Print the read location information, copy and save it as a txt file 29 | for i in record_list: 30 | print(i) 31 | 32 | 33 | # Take out and use the saved location 34 | def write(): 35 | time.sleep(1.5) 36 | # The file here uses the saved txt file 37 | data = list(filter(None, open(os.path.join(os.getcwd(), 'data_no_cant.txt')).read().splitlines())) 38 | # infinite loop 39 | while True: 40 | for angles in data: 41 | print(angles) 42 | mc.set_encoders(1, eval(angles)[0], 100) 43 | time.sleep(0.05) 44 | mc.set_encoders(2, eval(angles)[1], 100) 45 | time.sleep(0.1) 46 | 47 | 48 | # show emoji 49 | def smile(): 50 | # The location where the emoji file is stored 51 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 52 | out_win = "l" 53 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 54 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 55 | # infinite loop 56 | while True: 57 | ret, frame = cap.read() 58 | if frame is not None: 59 | print(1) 60 | cv.imshow(out_win, frame) 61 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 62 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 63 | 64 | 65 | if __name__ == '__main__': 66 | # run with multithreading 67 | t1 = threading.Thread(target=write) 68 | t2 = threading.Thread(target=smile) 69 | t1.start() 70 | t2.start() 71 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/reject.txt: -------------------------------------------------------------------------------- 1 | [[2641, 1451, 3297, 3407, 2420, 539], [1420, 2692, 852, 642, 1772, 3326]] 2 | [[2641, 1451, 3297, 3407, 2419, 539], [1420, 2692, 852, 642, 1773, 3326]] 3 | [[2640, 1451, 3297, 3408, 2418, 539], [1421, 2692, 852, 639, 1776, 3326]] 4 | [[2639, 1451, 3297, 3409, 2417, 539], [1423, 2692, 852, 629, 1777, 3325]] 5 | [[2625, 1451, 3297, 3410, 2419, 539], [1423, 2692, 852, 628, 1777, 3325]] 6 | [[2624, 1451, 3297, 3409, 2419, 539], [1432, 2692, 852, 632, 1778, 3325]] 7 | [[2629, 1451, 3297, 3395, 2412, 536], [1439, 2692, 852, 666, 1790, 3330]] 8 | [[2673, 1451, 3297, 3356, 2396, 533], [1409, 2692, 852, 702, 1813, 3334]] 9 | [[2737, 1451, 3297, 3267, 2372, 526], [1359, 2694, 916, 781, 1852, 3334]] 10 | [[2806, 1451, 3297, 3208, 2367, 523], [1312, 2702, 1006, 900, 1878, 3341]] 11 | [[2869, 1451, 3297, 3149, 2357, 519], [1261, 2751, 1042, 922, 1899, 3341]] 12 | [[2933, 1451, 3297, 3121, 2353, 514], [1206, 2802, 1084, 939, 1914, 3340]] 13 | [[3008, 1451, 3297, 3089, 2346, 513], [1142, 2837, 1117, 961, 1919, 3340]] 14 | [[3067, 1451, 3297, 3041, 2343, 513], [1072, 2863, 1122, 962, 1909, 3341]] 15 | [[3110, 1424, 3297, 3028, 2365, 511], [1028, 2900, 1122, 935, 1876, 3345]] 16 | [[3130, 1366, 3297, 3082, 2393, 511], [1015, 2931, 1122, 921, 1844, 3351]] 17 | [[3124, 1360, 3296, 3096, 2417, 512], [1028, 2931, 1122, 949, 1812, 3360]] 18 | [[3093, 1361, 3290, 3102, 2426, 513], [1031, 2931, 1122, 958, 1793, 3363]] 19 | [[3079, 1358, 3259, 3097, 2438, 513], [1041, 2931, 1122, 961, 1791, 3367]] 20 | [[3071, 1358, 3259, 3090, 2440, 511], [1042, 2931, 1122, 974, 1793, 3371]] 21 | [[3057, 1358, 3259, 3088, 2445, 510], [1051, 2931, 1122, 973, 1797, 3372]] 22 | [[3050, 1358, 3259, 3088, 2455, 508], [1067, 2931, 1119, 971, 1794, 3375]] 23 | [[3047, 1358, 3259, 3081, 2464, 500], [1062, 2931, 1119, 977, 1792, 3375]] 24 | [[3047, 1358, 3259, 3080, 2470, 499], [1060, 2931, 1119, 981, 1793, 3375]] 25 | [[3047, 1358, 3259, 3079, 2475, 499], [1053, 2931, 1119, 976, 1791, 3375]] 26 | [[3047, 1358, 3259, 3079, 2476, 499], [1038, 2931, 1119, 979, 1793, 3375]] 27 | [[3051, 1358, 3259, 3079, 2478, 499], [1038, 2931, 1119, 979, 1792, 3375]] 28 | [[3053, 1358, 3259, 3076, 2479, 499], [1038, 2931, 1119, 979, 1792, 3375]] 29 | [[3054, 1358, 3259, 3074, 2479, 498], [1038, 2931, 1119, 980, 1790, 3375]] 30 | [[3054, 1358, 3259, 3074, 2477, 498], [1038, 2931, 1119, 981, 1790, 3375]] 31 | [[3054, 1358, 3259, 3074, 2476, 498], [1038, 2931, 1119, 981, 1790, 3375]] 32 | [[3054, 1358, 3259, 3074, 2475, 498], [1038, 2931, 1119, 980, 1788, 3375]] 33 | [[3054, 1358, 3259, 3074, 2473, 498], [1033, 2931, 1119, 976, 1788, 3375]] 34 | [[3054, 1358, 3259, 3074, 2473, 498], [1033, 2931, 1119, 976, 1788, 3375]] 35 | [[3054, 1358, 3259, 3074, 2472, 498], [1032, 2931, 1119, 976, 1788, 3375]] 36 | [[3049, 1358, 3259, 3074, 2471, 498], [1041, 2931, 1119, 971, 1786, 3375]] 37 | [[3051, 1358, 3259, 3074, 2471, 498], [1038, 2931, 1119, 974, 1786, 3375]] 38 | [[3053, 1358, 3259, 3074, 2469, 498], [1037, 2931, 1119, 975, 1786, 3375]] 39 | [[3053, 1358, 3259, 3074, 2469, 498], [1036, 2931, 1119, 977, 1787, 3375]] 40 | [[3054, 1358, 3259, 3074, 2467, 498], [1035, 2931, 1119, 976, 1787, 3375]] 41 | [[3054, 1358, 3259, 3074, 2466, 498], [1035, 2931, 1118, 975, 1787, 3375]] 42 | [[3054, 1358, 3259, 3074, 2462, 497], [1036, 2931, 1118, 974, 1787, 3375]] 43 | [[3051, 1358, 3259, 3074, 2460, 496], [1046, 2931, 1118, 972, 1788, 3375]] 44 | [[2991, 1361, 3259, 3077, 2459, 496], [1115, 2931, 1118, 947, 1782, 3375]] 45 | [[2890, 1361, 3259, 3088, 2463, 496], [1202, 2929, 1118, 907, 1769, 3374]] 46 | [[2827, 1362, 3259, 3125, 2475, 506], [1298, 2916, 1118, 828, 1723, 3364]] 47 | [[2740, 1391, 3259, 3142, 2483, 511], [1374, 2864, 1118, 802, 1693, 3360]] 48 | [[2683, 1488, 3259, 3141, 2523, 514], [1425, 2813, 1118, 794, 1668, 3360]] 49 | [[2638, 1539, 3259, 3145, 2549, 515], [1428, 2752, 1118, 802, 1666, 3357]] -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/symphony.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock,Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | # Release the arms and record the points passed 15 | def read(): 16 | time.sleep(10) 17 | t = time.time() 18 | record_list = [] 19 | print(1) 20 | while time.time() - t <20: 21 | angles_1 = mc.get_encoders(1) 22 | angles_2 = mc.get_encoders(2) 23 | if angles_1 and angles_2: 24 | record_list.append([angles_1, angles_2]) 25 | time.sleep(0.1) 26 | 27 | # Print the read location information, copy and save it as a txt file 28 | for i in record_list: 29 | print(i) 30 | 31 | 32 | # Take out and use the saved location 33 | def write(): 34 | time.sleep(1.5) 35 | # The file here uses the saved txt file 36 | data = list(filter(None,open(os.path.join(os.getcwd(),'data_musician.txt')).read().splitlines())) 37 | # infinite loop 38 | while True: 39 | for angles in data: 40 | print(angles) 41 | mc.set_encoders(1, eval(angles)[0], 100) 42 | time.sleep(0.03) 43 | mc.set_encoders(2, eval(angles)[1], 100) 44 | time.sleep(0.2) 45 | 46 | # show emoji 47 | def smile(): 48 | # The location where the emoji file is stored 49 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 50 | out_win = "l" 51 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 52 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 53 | # infinite loop 54 | while True: 55 | ret, frame = cap.read() 56 | if frame is not None: 57 | print(1) 58 | cv.imshow(out_win, frame) 59 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 60 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 61 | 62 | 63 | if __name__ == '__main__': 64 | # run with multithreading 65 | t1 = threading.Thread(target=write) 66 | t2 = threading.Thread(target=smile) 67 | t1.start() 68 | t2.start() -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/thanHeart.py: -------------------------------------------------------------------------------- 1 | # coding=utf8 2 | import os 3 | import time 4 | from pymycobot.mybuddy import MyBuddy 5 | import threading 6 | from threading import Lock, Thread 7 | import cv2 as cv 8 | 9 | 10 | # Establish serial connection 11 | mc = MyBuddy('/dev/ttyACM0', 115200) 12 | 13 | 14 | 15 | # Release the arms and record the points passed 16 | def read(): 17 | time.sleep(3) 18 | mc.release_all_servos() 19 | time.sleep(10) 20 | t = time.time() 21 | record_list = [] 22 | print(1) 23 | while time.time() - t < 15: 24 | angles_1 = mc.get_encoders(1) 25 | angles_2 = mc.get_encoders(2) 26 | if angles_1 and angles_2: 27 | record_list.append([angles_1, angles_2]) 28 | time.sleep(0.1) 29 | 30 | # Print the read location information, copy and save it as a txt file 31 | for i in record_list: 32 | print(i) 33 | 34 | 35 | # Take out and use the saved location 36 | def write(): 37 | time.sleep(1.5) 38 | # The file here uses the saved txt file 39 | data = list(filter(None, open(os.path.join(os.getcwd(), 'thanHeart.txt')).read().splitlines())) 40 | # infinite loop 41 | while True: 42 | for angles in data: 43 | print(angles) 44 | mc.set_encoders(1, eval(angles)[0], 100) 45 | time.sleep(0.05) 46 | mc.set_encoders(2, eval(angles)[1], 100) 47 | time.sleep(0.1) 48 | 49 | 50 | # show emoji 51 | def smile(): 52 | # The location where the emoji file is stored 53 | cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4") 54 | out_win = "l" 55 | cv.namedWindow(out_win, cv.WINDOW_NORMAL) 56 | cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN) 57 | # infinite loop 58 | while True: 59 | ret, frame = cap.read() 60 | if frame is not None: 61 | print(1) 62 | cv.imshow(out_win, frame) 63 | if cv.waitKey(1) & 0xFF == ord('q') or ret == False: 64 | cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4") 65 | 66 | 67 | if __name__ == '__main__': 68 | # run with multithreading 69 | t1 = threading.Thread(target=write) 70 | t2 = threading.Thread(target=smile) 71 | t1.start() 72 | t2.start() 73 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_Action/thanHeart.txt: -------------------------------------------------------------------------------- 1 | [[2018, 2029, 1567, 2079, 4091, 872], [1995, 2003, 2384, 2074, 177, 3202]] 2 | [[2018, 2029, 1567, 2079, 4090, 872], [1995, 2010, 2377, 2086, 187, 3203]] 3 | [[2018, 2030, 1567, 2083, 4088, 871], [1995, 2010, 2379, 2089, 187, 3204]] 4 | [[2017, 2030, 1567, 2086, 4081, 872], [2023, 1998, 2385, 2050, 187, 3201]] 5 | [[2012, 2150, 1567, 2034, 4066, 871], [2085, 1885, 2382, 2028, 158, 3199]] 6 | [[2012, 2174, 1567, 2034, 4050, 871], [2101, 1838, 2384, 2007, 158, 3200]] 7 | [[1993, 2218, 1566, 2081, 4029, 873], [2115, 1794, 2385, 1959, 148, 3200]] 8 | [[1994, 2283, 1487, 2125, 4059, 873], [2139, 1627, 2450, 1895, 132, 3209]] 9 | [[1938, 2281, 1192, 1827, 4094, 874], [2164, 1638, 2680, 2105, 131, 3209]] 10 | [[1910, 2397, 1282, 1850, 4094, 870], [2185, 1627, 2804, 2200, 131, 3212]] 11 | [[1908, 2434, 1284, 1881, 4094, 868], [2205, 1625, 2898, 2181, 131, 3212]] 12 | [[1877, 2475, 1277, 1955, 4094, 862], [2218, 1624, 2922, 2183, 131, 3212]] 13 | [[1869, 2467, 1206, 1926, 4094, 861], [2222, 1537, 2921, 2261, 131, 3211]] 14 | [[1859, 2478, 1080, 1751, 4094, 860], [2219, 1512, 2930, 2246, 131, 3211]] 15 | [[1846, 2479, 1081, 1807, 4094, 860], [2218, 1508, 2932, 2217, 131, 3222]] 16 | [[1852, 2474, 1080, 1778, 4094, 805], [2200, 1509, 2999, 2324, 131, 3274]] 17 | [[1855, 2470, 1071, 1787, 4094, 757], [2196, 1518, 3044, 2395, 132, 3303]] 18 | [[1863, 2473, 1071, 1787, 4094, 729], [2209, 1521, 3044, 2365, 132, 3309]] 19 | [[1863, 2475, 1071, 1783, 4094, 733], [2216, 1521, 3044, 2352, 132, 3306]] 20 | [[1863, 2470, 1070, 1800, 4094, 735], [2216, 1521, 3044, 2362, 132, 3306]] 21 | [[1864, 2475, 1070, 1789, 4094, 728], [2215, 1521, 3044, 2372, 132, 3307]] 22 | [[1864, 2473, 1070, 1792, 4094, 726], [2216, 1521, 3044, 2349, 132, 3304]] 23 | [[1864, 2475, 1069, 1804, 4094, 726], [2217, 1521, 3044, 2339, 132, 3297]] 24 | [[1864, 2477, 1069, 1804, 4094, 726], [2215, 1521, 3044, 2343, 132, 3295]] 25 | [[1864, 2475, 1069, 1805, 4093, 727], [2214, 1521, 3044, 2344, 132, 3294]] 26 | [[1864, 2477, 1069, 1805, 4084, 728], [2210, 1507, 2902, 2178, 132, 3290]] 27 | [[1864, 2478, 1069, 1784, 4088, 728], [2210, 1507, 2900, 2177, 132, 3290]] 28 | [[1864, 2479, 1069, 1773, 4088, 728], [2210, 1504, 2902, 2173, 132, 3291]] 29 | [[1864, 2479, 1069, 1763, 4090, 729], [2202, 1443, 2889, 2236, 132, 3290]] 30 | [[1864, 2478, 1069, 1758, 4091, 731], [2195, 1465, 2899, 2224, 132, 3285]] 31 | [[1864, 2478, 1069, 1756, 4091, 731], [2194, 1459, 2899, 2225, 132, 3283]] 32 | [[1864, 2478, 1069, 1755, 4091, 731], [2194, 1459, 2899, 2226, 132, 3283]] 33 | [[1864, 2478, 1069, 1774, 4091, 731], [2194, 1455, 2900, 2225, 132, 3283]] 34 | [[1864, 2473, 1069, 1828, 4087, 731], [2194, 1454, 2900, 2181, 132, 3282]] 35 | [[1864, 2478, 1069, 1831, 4088, 731], [2194, 1454, 2900, 2167, 132, 3279]] 36 | [[1864, 2478, 1069, 1844, 4091, 732], [2192, 1454, 2900, 2150, 132, 3277]] 37 | [[1864, 2478, 1069, 1870, 4091, 733], [2191, 1454, 2900, 2139, 132, 3274]] 38 | [[1864, 2478, 1069, 1873, 4093, 733], [2190, 1454, 2900, 2135, 132, 3272]] 39 | [[1864, 2478, 1069, 1874, 4093, 733], [2190, 1454, 2900, 2134, 132, 3272]] 40 | [[1864, 2479, 1069, 1870, 4094, 733], [2190, 1454, 2900, 2133, 132, 3270]] 41 | [[1864, 2479, 1069, 1859, 4094, 734], [2191, 1454, 2900, 2136, 132, 3265]] -------------------------------------------------------------------------------- /demo/mybuddy_demo/myBuddy_gpio_test.py: -------------------------------------------------------------------------------- 1 | #import library 2 | import time 3 | import os 4 | import sys 5 | import serial 6 | import serial.tools.list_ports 7 | import platform 8 | sys.path.append(os.getcwd()) 9 | from pymycobot.mybuddy import MyBuddy 10 | 11 | #define type 12 | port: str 13 | mc: MyBuddy 14 | DEBUG = False 15 | 16 | # auto select system port 17 | if platform.system() == 'Windows': 18 | port = 'COM21' 19 | baud = 115200 20 | elif platform.system() == 'Linux': 21 | port = '/dev/ttyACM0' 22 | baud = 115200 23 | 24 | 25 | # Connect Robot 26 | mc = MyBuddy(port, baud, debug=DEBUG) 27 | time.sleep(1) 28 | 29 | # Test IO output 30 | pin_no = 15 31 | mc.set_gpio_init_mode(0) 32 | mc.set_gpio_setup(pin_no,1) 33 | 34 | mc.set_gpio_output(pin_no,1) 35 | time.sleep(2) 36 | mc.set_gpio_output(pin_no,0) 37 | time.sleep(2) 38 | mc.set_gpio_clearup(pin_no) 39 | 40 | # #Test io_pwm output 41 | # mc.set_gpio_pwm_start(3,0.5,50) 42 | # time.sleep(2) 43 | # mc.set_gpio_pwm_change_dc(100) 44 | # time.sleep(2) 45 | # mc.set_gpio_pwm_change_freq(100) 46 | # time,time.sleep(2) 47 | # mc.set_gpio_pwm_stop() 48 | # time.sleep(1) 49 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/mybuddy_change_pid.py: -------------------------------------------------------------------------------- 1 | #import library 2 | import time 3 | import os 4 | import sys 5 | import serial 6 | import serial.tools.list_ports 7 | import platform 8 | 9 | sys.path.append(os.getcwd()) 10 | from pymycobot.mybuddy import MyBuddy 11 | 12 | #define type 13 | port: str 14 | mc: MyBuddy 15 | DEBUG = False 16 | 17 | # Connect Robot 18 | 19 | data_id = [21, 22, 23, 24, 26, 27] 20 | data = [25, 25, 1, 0, 3, 3] 21 | mb : MyBuddy 22 | ports = [] 23 | 24 | def setup(): #机械臂检测函数，选择正确的串口 25 | global mb 26 | # auto select system port 27 | if platform.system() == 'Windows': 28 | port = 'COM21' 29 | baud = 115200 30 | elif platform.system() == 'Linux': 31 | port = '/dev/ttyACM0' 32 | baud = 115200 33 | mb = MyBuddy(port, baud, debug=DEBUG) 34 | time.sleep(1) 35 | 36 | def change(): 37 | global mb, data, data_id 38 | _mybuddy = mb 39 | print(_mybuddy) 40 | for m in range(1,3): 41 | for i in range(1,7): 42 | for j in range(len(data_id)): 43 | _mybuddy.set_servo_data(m, i, data_id[j], data[j]) 44 | time.sleep(0.1) 45 | _data = _mybuddy.get_servo_data(m, i, data_id[j]) 46 | time.sleep(0.1) 47 | if _data == data[j]: 48 | print("Servo motor :" + str(i) + " data_id : " + str(data_id[j]) + " data: " + str(_data) + " modify successfully ") 49 | else: 50 | print("Servo motor :" + str(i) + " data_id : " + str(data_id[j]) + " data: " + str(_data) + " modify error ") 51 | 52 | if __name__ == "__main__": #主函数 53 | setup() 54 | try: 55 | change() 56 | except Exception as e: 57 | print(e) 58 | 59 | 60 | 61 | 62 | 63 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/mybuddy_emoticon_demo.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyBuddyEmoticon 2 | import time 3 | 4 | # [video_path, Playback_duration(s)] 5 | video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10] 6 | 7 | datas = [video1] 8 | 9 | me = MyBuddyEmoticon(datas) 10 | me.start() 11 | 12 | time.sleep(3) 13 | # Pause playback 14 | me.pause() 15 | 16 | time.sleep(3) 17 | # Continue playing 18 | me.run() 19 | 20 | # Waiting for playback to complete 21 | me.join() -------------------------------------------------------------------------------- /demo/mybuddy_demo/mybuddy_encoders_test.py: -------------------------------------------------------------------------------- 1 | #import library 2 | import time 3 | import os 4 | import sys 5 | import serial 6 | import serial.tools.list_ports 7 | import platform 8 | sys.path.append(os.getcwd()) 9 | from pymycobot.mybuddy import MyBuddy 10 | 11 | #define type 12 | port: str 13 | mc: MyBuddy 14 | DEBUG = False 15 | 16 | # auto select system port 17 | if platform.system() == 'Windows': 18 | port = 'COM21' 19 | baud = 115200 20 | elif platform.system() == 'Linux': 21 | port = '/dev/ttyACM0' 22 | baud = 115200 23 | 24 | # demo encoders and speeds 25 | encoders = [2047,2047,2047,2047,2047,2047,2047, 2047,2047,2047,2047,2047,2047,2047, 2047] # Lram + gipper & Rram + gipper & Wram encoders 26 | speeds = [500,500,500,500,500,500,500, 500,500,500,500,500,500,500, 500] # Lram + gipper & Rram + gipper & Wram speeds 27 | 28 | # Connect Robot 29 | mc = MyBuddy(port, baud, debug=DEBUG) 30 | time.sleep(1) 31 | 32 | # Test IO output 33 | mc.set_gpio_mode(1,1) 34 | mc.set_gpio_output(1,1) 35 | time.sleep(2) 36 | mc.set_gpio_output(1,0) 37 | time.sleep(2) 38 | mc.set_gpio_clearup(1) 39 | 40 | #Test io_pwm output 41 | mc.set_gpio_pwm_start(3,0.5,50) 42 | time.sleep(2) 43 | mc.set_gpio_pwm_change_dc(100) 44 | time.sleep(2) 45 | mc.set_gpio_pwm_change_freq(100) 46 | time,time.sleep(2) 47 | mc.set_gpio_pwm_stop() 48 | time.sleep(1) 49 | 50 | # 51 | iic = mc.set_iic_init(1) 52 | 53 | 54 | 55 | # print all encoders and speeds 56 | print(mc.get_encoders(0)) 57 | 58 | # set run demo encoders，init robot 59 | mc.set_encoders(0,encoders,speeds) 60 | -------------------------------------------------------------------------------- /demo/mybuddy_demo/mybuddy_send_angles_auto.py: -------------------------------------------------------------------------------- 1 | import imp 2 | 3 | 4 | import os 5 | import sys 6 | sys.path.append(os.getcwd()) 7 | from pymycobot.mybuddy import MyBuddy 8 | 9 | mb = MyBuddy('COM4',115200) 10 | 11 | mb.send_angles_auto(1,[0,0,0,0,0,0],1) 12 | 13 | -------------------------------------------------------------------------------- /demo/mybuddy_emo.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyBuddyEmoticon 2 | import time 3 | 4 | file_path = [ 5 | ['/home/er/emo/look_happy.mp4', 10] 6 | ] 7 | 8 | em = MyBuddyEmoticon(file_path, loop=True) 9 | 10 | em.start() 11 | time.sleep(5) 12 | 13 | # 暂停 14 | em.pause() 15 | 16 | time.sleep(2) 17 | 18 | # 继续播放 19 | em.run() 20 | 21 | # 等待播放结束 22 | em.join() -------------------------------------------------------------------------------- /demo/mycobot_pi_bluetooth/README.md: -------------------------------------------------------------------------------- 1 | # Used for mycobot pi and mycobot_app 2 | 3 | ## Usage method 4 | 5 | ### 1.Make sure raspberry pi Bluetooth is available 6 | 7 | The Ubuntu 20.04 system needs to restart the Bluetooth service first. 8 | 9 | ```shell 10 | sudo systemctl restart bluetooth 11 | ``` 12 | 13 | ### 2.Run Bluetooth server 14 | 15 | ```shell 16 | python uart_peripheral_serial.py 17 | ``` -------------------------------------------------------------------------------- /demo/mycobot_pi_bluetooth/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/demo/mycobot_pi_bluetooth/__init__.py -------------------------------------------------------------------------------- /demo/mycobot_pi_bluetooth/app.py: -------------------------------------------------------------------------------- 1 | import sys, time, threading, logging 2 | sys.path.append('.') 3 | 4 | from ai import singleton, parameters, functools, coloredlogging 5 | 6 | logger = coloredlogging.get_logger("AS", coloredlogging.BLUE) 7 | logger.addHandler(logging.NullHandler()) 8 | 9 | class AppStates(metaclass=singleton.Singleton): 10 | happiness = 4 11 | hungry = 4 12 | energy = 4 13 | comfort = 4 14 | counter = 0 15 | 16 | def __init__(self) -> None: 17 | ... 18 | 19 | @classmethod 20 | def recover(cls, genre): 21 | if genre == 'energy': 22 | cls.energy += 1 23 | cls.energy = min(4, cls.energy) 24 | elif genre == 'happiness': 25 | cls.happiness += 1 26 | cls.happiness = min(4, cls.happiness) 27 | elif genre == 'hungry': 28 | cls.happiness += 1 29 | cls.happiness = min(4, cls.happiness) 30 | elif genre == 'comfort': 31 | cls.comfort += 1 32 | cls.comfort = min(4, cls.comfort) 33 | 34 | @classmethod 35 | def drop(cls, genre: str): 36 | if genre == 'energy': 37 | cls.energy -= 1 38 | cls.energy = max(0, cls.energy) 39 | elif genre == 'happiness': 40 | cls.happiness -= 1 41 | cls.happiness = max(0, cls.happiness) 42 | elif genre == 'hungry': 43 | cls.happiness -= 1 44 | cls.happiness = max(0, cls.happiness) 45 | elif genre == 'comfort': 46 | cls.comfort -= 1 47 | cls.comfort = max(0, cls.comfort) 48 | 49 | @classmethod 50 | def recover_by_action(cls, action: str): 51 | if action == 'eat': 52 | cls.recover('hungry') 53 | elif action.startswith('touch'): 54 | cls.recover('comfort') 55 | elif action in parameters.BEHAVIOURS['relax']: 56 | cls.recover('energy') 57 | elif action.startswith('voice') or action.startswith( 58 | 'stare') or action in ['ball', 'attack', 'flap']: 59 | cls.recover('happiness') 60 | 61 | @classmethod 62 | @functools.thread_run 63 | def async_run(cls): 64 | logger.debug(f'Starting Stats recorder') 65 | while ...: 66 | time.sleep(60 * 10) 67 | AppStates.counter += 1 68 | cls.drop('energy') 69 | if AppStates.counter % 2 == 0: 70 | cls.drop('happiness') 71 | cls.drop('comfort') 72 | elif AppStates.counter % 12 == 0: 73 | cls.drop('hungry') 74 | 75 | -------------------------------------------------------------------------------- /demo/mycobot_pi_bluetooth/bt_client.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import bluetooth 3 | 4 | 5 | if __name__ == "__main__": 6 | addr = None 7 | 8 | if len(sys.argv) < 2: 9 | print("No device specified. Searching all nearby bluetooth devices for the marscat_bt service...") 10 | else: 11 | addr = sys.argv[1] 12 | print("Searching for marscat_bt on {}...".format(addr)) 13 | 14 | uuid = '26754beb-1bd0-4017-b341-154bed30b71a' 15 | service_matches = bluetooth.find_service(uuid=uuid, address=addr) 16 | 17 | if len(service_matches) == 0: 18 | print("Couldn't find the marscat_bt service.") 19 | sys.exit(0) 20 | 21 | first_match = service_matches[0] 22 | port = first_match["port"] 23 | name = first_match["name"] 24 | host = first_match["host"] 25 | 26 | print("Connecting to \"{}\" on {}".format(name, host)) 27 | 28 | # Create the client socket 29 | sock = bluetooth.BluetoothSocket(bluetooth.RFCOMM) 30 | sock.connect((host, port)) 31 | 32 | print("Connected. Type something...") 33 | while True: 34 | data = input() 35 | if not data: 36 | break 37 | sock.send(data) 38 | 39 | sock.close() 40 | -------------------------------------------------------------------------------- /demo/mycobot_pi_bluetooth/timezone.py: -------------------------------------------------------------------------------- 1 | import sys, subprocess 2 | sys.path.append('.') 3 | 4 | 5 | def getLocaleTimeZone() -> str: 6 | resp: str = subprocess.run(['ls -l /etc/localtime'], 7 | stdout=subprocess.PIPE, 8 | shell=True).stdout.decode('utf-8') 9 | t = resp.split('->')[1] 10 | l = t.split('/') 11 | timezone = f'{l[-2]}/{l[-1]}'.replace('\n','').replace('\r','') 12 | return timezone 13 | 14 | def setTimeZone(timezone:str): 15 | subprocess.run([f'sudo timedatectl set-timezone {timezone}'], 16 | stdout=subprocess.PIPE, 17 | shell=True) 18 | 19 | if __name__ == "__main__": 20 | getLocaleTimeZone() 21 | -------------------------------------------------------------------------------- /demo/pid_read_write.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyCobot280, MyCobot320 2 | # from pymycobot import PI_PORT 3 | import time 4 | import serial 5 | 6 | # pi 7 | # 280 8 | # mc = MyCobot280(PI_PORT, 1000000) 9 | # mc = MyCobot280('/dev/ttyAMA0', 1000000) 10 | # 320 11 | # mc = MyCobot320(PI_PORT, 115200) 12 | # mc = MyCobot320('/dev/ttyAMA0', 115200) 13 | 14 | # M5 15 | # 280 16 | mc = MyCobot280('COM66', 115200) 17 | # mc = MyCobot280('/dev/ttyUSB0',115200) 18 | 19 | # 320 20 | # mc = MyCobot320('COM66', 115200) 21 | # mc = MyCobot320('/dev/ttyUSB0',115200) 22 | 23 | # 参数对应地址 24 | data_id = [7, 21, 22, 23, 24, 26, 27] 25 | # 修改后的参数 26 | data = [0, 32, 8, 0, 0, 3, 3] 27 | 28 | def read(): 29 | for i in range(1, 7): 30 | for j in range(7): 31 | print("Servo motor " + str(i) + " data_id " +str(data_id[j]) + " : " + str(mc.get_servo_data(i, data_id[j])) ) 32 | time.sleep(0.2) 33 | 34 | def write(): 35 | for i in range(1,7): 36 | for j in range(7): 37 | mc.set_servo_data(i, data_id[j], data[j]) 38 | time.sleep(0.5) 39 | 40 | if __name__ == "__main__": 41 | mc.power_on() 42 | time.sleep(2) 43 | # 写入参数（第一次使用先读取再进行修改） 44 | write() 45 | # 读取参数 46 | read() 47 | -------------------------------------------------------------------------------- /demo/port_setup.py: -------------------------------------------------------------------------------- 1 | import serial 2 | import serial.tools.list_ports 3 | 4 | from pymycobot.mycobot280 import MyCobot280 5 | 6 | 7 | 8 | def setup(): 9 | print("") 10 | 11 | plist = list(serial.tools.list_ports.comports()) 12 | idx = 1 13 | for port in plist: 14 | print("{} : {}".format(idx, port)) 15 | idx += 1 16 | 17 | _in = input("\nPlease input 1 - {} to choice:".format(idx - 1)) 18 | port = str(plist[int(_in) - 1]).split(" - ")[0].strip() 19 | print(port) 20 | print("") 21 | 22 | baud = 115200 23 | _baud = input("Please input baud(default:115200):") 24 | try: 25 | baud = int(_baud) 26 | except Exception: 27 | pass 28 | print(baud) 29 | print("") 30 | 31 | DEBUG = False 32 | f = input("Wether DEBUG mode[Y/n]:") 33 | if f in ["y", "Y", "yes", "Yes"]: 34 | DEBUG = True 35 | # mc = MyCobot(port, debug=True) 36 | mc = MyCobot280(port, baud, debug=DEBUG) 37 | return mc 38 | 39 | -------------------------------------------------------------------------------- /demo/pro630_3D_Kit_Code/.txt: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /demo/pro630_3D_Kit_Code/robot_test.py: -------------------------------------------------------------------------------- 1 | from pymycobot import ElephantRobot 2 | import time 3 | robot_ip="192.168.6.79" 4 | er=ElephantRobot(robot_ip,5001) 5 | er.start_client() 6 | 7 | if er.state_check()==False: 8 | er.start_robot() 9 | 10 | er.write_angles([0,-90,0,-90,0,0],1999) 11 | time.sleep(4) 12 | er.write_angles([0,-90,90,-90,0,0],1999) 13 | time.sleep(4) 14 | 15 | er.set_digital_out(0,1) 16 | time.sleep(2) 17 | er.set_digital_out(0,0) -------------------------------------------------------------------------------- /demo/pro630_3D_Kit_Code/test.py: -------------------------------------------------------------------------------- 1 | from pymycobot import ElephantRobot 2 | import time 3 | robot_ip="192.168.6.79" 4 | er=ElephantRobot(robot_ip,5001) 5 | er.start_client() 6 | 7 | if er.state_check()==False: 8 | er.start_robot() 9 | time.sleep(2) 10 | er._state_on() 11 | 12 | er.write_angles([0,-90,0,-90,0,0],1999) 13 | time.sleep(4) 14 | er.write_angles([0,-90,90,-90,0,0],1999) 15 | time.sleep(4) 16 | 17 | er.set_digital_out(0,1) 18 | time.sleep(2) 19 | er.set_digital_out(0,0) 20 | -------------------------------------------------------------------------------- /demo/reader.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyCobot280, MyCobot320 2 | from port_setup import setup 3 | 4 | # 280 5 | mc: MyCobot280 6 | sp: int = 80 7 | 8 | # 320 9 | # mc: MyCobot320 10 | # sp: int = 80 11 | 12 | 13 | def setup(): 14 | print("") 15 | global mc 16 | mc = setup() 17 | 18 | 19 | def focus(): 20 | for i in range(6): 21 | mc.focus_servo(i + 1) 22 | 23 | 24 | def release(): 25 | for i in range(6): 26 | mc.release_servo(i + 1) 27 | 28 | 29 | def angles(): 30 | print(mc.get_angles()) 31 | 32 | 33 | def coords(): 34 | print(mc.get_coords()) 35 | 36 | 37 | if __name__ == "__main__": 38 | setup() 39 | while not False: 40 | in_ = int(input("number")) 41 | if in_ == 1: 42 | focus() 43 | elif in_ == 2: 44 | release() 45 | elif in_ == 3: 46 | angles() 47 | elif in_ == 4: 48 | coords() 49 | -------------------------------------------------------------------------------- /demo/send_angle.py: -------------------------------------------------------------------------------- 1 | import sys 2 | import os 3 | sys.path.append(os.path.dirname(__file__)) 4 | from port_setup import setup 5 | 6 | if __name__ == "__main__": 7 | mc = setup() 8 | _sp = input('Please input speed(0-100):') 9 | try: 10 | sp = int(_sp) 11 | except Exception: 12 | print('Error: invalid speed, speed is default: 80') 13 | sp = 80 14 | 15 | while not False: 16 | angles_str = input('Please input angles, like ("0,0,0,0,0,0"):') 17 | try: 18 | angles_str_l = angles_str.split(',') 19 | if len(angles_str_l) != 6: 20 | raise Exception('') 21 | angles = [float(i) for i in angles_str_l] 22 | except Exception: 23 | print('Error: invalid angles string.') 24 | continue 25 | 26 | mc.send_angles(angles, sp) 27 | 28 | -------------------------------------------------------------------------------- /demo/sync.py: -------------------------------------------------------------------------------- 1 | import time 2 | import os 3 | import sys 4 | from pymycobot.mycobot import MyCobot 5 | 6 | sys.path.append(os.path.dirname(__file__)) 7 | from port_setup import setup 8 | 9 | reset = [153.19, 137.81, -153.54, 156.79, 87.27, 13.62] 10 | 11 | 12 | def test(mycobot): 13 | print("\nStart check basic options\n") 14 | 15 | """ 16 | mycobot.sync_send_angles([0,0,0,0,0,0], 100) 17 | mycobot.sync_send_angles([100,50,0,0,70,160], 100) 18 | mycobot.sync_send_angles([-100,-50,0,0,-70,-160], 100) 19 | """ 20 | # mycobot.sync_send_angles([0, 0, 0, 0, 0, 0], 100).sync_send_angles( 21 | # [100, 50, 0, 0, 70, 160], 100 22 | # ).sync_send_angles([-100, -50, 0, 0, -70, -160], 100).sync_send_angles( 23 | # reset, 100 24 | # ).set_free_mode() 25 | # See: https://github.com/elephantrobotics/pymycobot/issues/144 26 | mycobot.sync_send_angles([0, 0, 0, 0, 0, 0], 100) 27 | mycobot.sync_send_angles([100, 50, 0, 0, 70, 160], 100) 28 | mycobot.sync_send_angles([-100,-50, 0, 0, -70,-160], 100) 29 | mycobot.set_free_mode(1) 30 | 31 | print("=== check end ===\n") 32 | 33 | 34 | if __name__ == "__main__": 35 | print( 36 | """ 37 | -------------------------------------------- 38 | | This file will test basic option method: | 39 | | sync_send_angles() | 40 | -------------------------------------------- 41 | """ 42 | ) 43 | time.sleep(3) 44 | mycobot = setup() 45 | test(mycobot) 46 | # print(mycobot.get_angles()) 47 | -------------------------------------------------------------------------------- /demo/tools/pump_demo_M5.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | 3 | # This code is suitable for the use of the myCobot 4 | # series product pump provided by Elephant Robotics; 5 | # Please check the instructions for use of the 6 | # suction pump before use, please refer to here: 7 | # https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.7-accessories/2.7.4-pump.html 8 | # Running this code requires installing the 'pymycobot' 9 | # driver library and python driver environment. 10 | # If you don't installed, please refer to here : 11 | # https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/ 12 | 13 | # import library 14 | from pymycobot import MyCobot280 #import mycobot library,if don't have, first 'pip install pymycobot' 15 | import time 16 | 17 | # if use PC and M5 control 18 | mc = MyCobot280('COM3', 115200) # WINDOWS use ，need check port number when you PC 19 | # mc = MyCobot('/dev/ttyUSB0',115200) #VM linux use 20 | 21 | #init robot 22 | mc.power_on() 23 | time.sleep(1) 24 | 25 | #define pump pin and work state 26 | pump_motor_pin = 5 # control vacuum pump motor work pin, can be modified 27 | pump_relay_pin = 2 # control vacuum pump relay work pin, can be modified 28 | pump_open = 0 # control vacuum pump motor work turn on 29 | pump_close = 1 # control vacuum pump motor work turn off 30 | 31 | #define api, If you are using the first generation or 32 | #earlier suction pump, then define his interface as follows: 33 | def pump_V1_on(): 34 | mc.set_basic_output(pump_motor_pin, pump_open) 35 | time.sleep(0.05) 36 | mc.set_basic_output(pump_relay_pin, pump_open) 37 | time.sleep(0.05) 38 | 39 | def pump_V1_off(): 40 | mc.set_basic_output(pump_motor_pin, pump_close) 41 | time.sleep(0.05) 42 | mc.set_basic_output(pump_relay_pin, pump_close) 43 | time.sleep(0.05) 44 | 45 | #If you are using the suction pump V2.0 version of 46 | # the device, then define his interface as follows: 47 | def pump_V2_on(): 48 | mc.set_basic_output(pump_relay_pin, pump_close) 49 | time.sleep(0.05) 50 | mc.set_basic_output(pump_motor_pin, pump_open) 51 | time.sleep(0.05) 52 | 53 | def pump_V2_off(): 54 | mc.set_basic_output(pump_relay_pin, pump_open) 55 | mc.set_basic_output(pump_motor_pin, pump_close) 56 | time.sleep(1.5) 57 | mc.set_basic_output(pump_relay_pin, pump_close) 58 | time.sleep(0.05) 59 | 60 | 61 | # demo control, First turn on the vacuum pump motor, 62 | # Then turn off the motor and turn on the relay to 63 | # introduce air.If you do not know the version of 64 | # your suction pump, please use it after checking 65 | # the instructions of the suction pump; 66 | 67 | # define pump V1.0 work demo 68 | # for i in range (5): 69 | # pump_V1_on() 70 | # time.sleep(5) 71 | # pump_V1_off() 72 | 73 | # define pump V2.0 work demo 74 | for i in range (5): 75 | pump_V2_on() 76 | time.sleep(5) 77 | pump_V2_off() -------------------------------------------------------------------------------- /demo/tools/pump_demo_PI.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/python3 2 | 3 | # This code is suitable for the use of the myCobot 4 | # series product pump provided by Elephant Robotics; 5 | # Please check the instructions for use of the 6 | # suction pump before use, please refer to here: 7 | # https://docs.elephantrobotics.com/docs/gitbook-en/2-serialproduct/2.7-accessories/2.7.4-pump.html 8 | # Running this code requires installing the 'pymycobot' 9 | # driver library and python driver environment. 10 | # If you don't installed, please refer to here : 11 | # https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/ 12 | 13 | # import library 14 | from pymycobot import MyCobot280 #import mycobot library,if don't have, first 'pip install pymycobot' 15 | import time 16 | import RPi.GPIO as GPIO 17 | GPIO.setmode(GPIO.BCM) 18 | # if use Pi control 19 | mc = MyCobot280('/dev/ttyAMA0',1000000) #linux use 20 | 21 | #init robot 22 | mc.power_on() 23 | time.sleep(1) 24 | 25 | #define pump pin and work state 26 | pump_motor_pin = 20 # control vacuum pump motor work pin, can be modified 27 | pump_relay_pin = 21 # control vacuum pump relay work pin, can be modified 28 | pump_open = 0 # control vacuum pump motor work turn on 29 | pump_close = 1 # control vacuum pump motor work turn off 30 | 31 | def init_gpio(io_number, state): 32 | if state == 0: 33 | st = GPIO.OUT 34 | elif state == 1: 35 | st = GPIO.IN 36 | GPIO.setup(io_number, st) 37 | 38 | def init_pump_pin(): 39 | init_gpio(pump_motor_pin,0) 40 | init_gpio(pump_relay_pin,0) 41 | #define api, If you are using the first generation or 42 | #earlier suction pump, then define his interface as follows: 43 | def pump_V1_on(): 44 | GPIO.output(pump_motor_pin, pump_open) 45 | time.sleep(0.05) 46 | GPIO.output(pump_relay_pin, pump_open) 47 | time.sleep(0.05) 48 | 49 | def pump_V1_off(): 50 | GPIO.output(pump_motor_pin, pump_close) 51 | time.sleep(0.05) 52 | GPIO.output(pump_relay_pin, pump_close) 53 | time.sleep(0.05) 54 | 55 | #If you are using the suction pump V2.0 version of 56 | # the device, then define his interface as follows: 57 | def pump_V2_on(): 58 | GPIO.output(pump_motor_pin, pump_open) 59 | time.sleep(0.05) 60 | 61 | def pump_V2_off(): 62 | GPIO.output(pump_motor_pin, pump_close) 63 | time.sleep(0.05) 64 | GPIO.output(pump_relay_pin, pump_open) 65 | time.sleep(1) 66 | GPIO.output(pump_relay_pin, pump_close) 67 | time.sleep(0.05) 68 | 69 | # demo control, First turn on the vacuum pump motor, 70 | # Then turn off the motor and turn on the relay to 71 | # introduce air.If you do not know the version of 72 | # your suction pump, please use it after checking 73 | # the instructions of the suction pump; 74 | 75 | # define pump V1.0 work demo 76 | # for i in range (5): 77 | # pump_V1_on() 78 | # time.sleep(5) 79 | # pump_V1_off() 80 | 81 | # define pump V2.0 work demo 82 | init_pump_pin() 83 | for i in range (5): 84 | pump_V2_on() 85 | time.sleep(5) 86 | pump_V2_off() 87 | 88 | 89 | -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/3-angles_control.py: -------------------------------------------------------------------------------- 1 | from pymycobot.ultraArmP340 import ultraArmP340 2 | import time 3 | import serial 4 | import serial.tools.list_ports 5 | 6 | #以上需写在代码开头，意为导入项目包 7 | 8 | # ultraArmP340 类初始化需要两个参数：串口和波特率 9 | # 第一个是串口字符串， 如： 10 | # linux： "/dev/ttyUSB0" 11 | # windows: "COM3" 12 | # 第二个是波特率：115200 13 | # 以下为如: 14 | # linux: 15 | # ua = ultraArmP340("/dev/USB0", 115200) 16 | # windows: 17 | # ua = ultraArmP340("COM3", 115200) 18 | 19 | # 获取串口列表 20 | plist = [ 21 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 22 | ] 23 | 24 | # 初始化一个ultraArmP340对象 25 | # 下面为 windows版本创建对象代码 26 | 27 | ua = ultraArmP340(plist[0], 115200) 28 | # ultraArmP340进行坐标运动/角度运动之前必须进行回零，否则无法获取到正确的角度/坐标 29 | ua.go_zero() 30 | time.sleep(0.5) 31 | 32 | # 通过传递角度参数，让机械臂每个关节移动到对应[0, 0, 0]的位置 33 | ua.set_angles([0, 0, 0], 50) 34 | 35 | # 设置等待时间，确保机械臂已经到达指定位置 36 | time.sleep(2.5) 37 | 38 | # 让关节1移动到90这个位置 39 | ua.set_angle(1, 90, 50) 40 | # 设置等待时间，确保机械臂已经到达指定位置 41 | time.sleep(2) 42 | 43 | # 以下代码可以让机械臂左右摇摆 44 | # 设置循环次数 45 | num = 7 46 | 47 | while num > 0: 48 | # 让关节2移动到45这个位置 49 | ua.send_angle(2, 45, 50) 50 | 51 | # 设置等待时间，确保机械臂已经到达指定位置 52 | time.sleep(3) 53 | 54 | # 让关节2移动到-15这个位置 55 | ua.set_angle(2, -15, 50) 56 | 57 | # 设置等待时间，确保机械臂已经到达指定位置 58 | time.sleep(3) 59 | 60 | num -= 1 61 | 62 | # 让机械臂缩起来。你可以手动摆动机械臂，然后使用get_angles()函数获得坐标数列， 63 | # 通过该函数让机械臂到达你所想的位置。 64 | ua.set_angles([88.68, 60, 30], 50) 65 | 66 | # 设置等待时间，确保机械臂已经到达指定位置 67 | time.sleep(2.5) -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/4-coords_control.py: -------------------------------------------------------------------------------- 1 | from pymycobot.ultraArmP340 import ultraArmP340 2 | import time 3 | import serial 4 | import serial.tools.list_ports 5 | 6 | #以上需写在代码开头，意为导入项目包 7 | 8 | # ultraArmP340 类初始化需要两个参数：串口和波特率 9 | # 第一个是串口字符串， 如： 10 | # linux： "/dev/ttyUSB0" 11 | # windows: "COM3" 12 | # 第二个是波特率：115200 13 | # 以下为如: 14 | # linux: 15 | # ua = ultraArmP340("/dev/USB0", 115200) 16 | # windows: 17 | # ua = ultraArmP340("COM3", 115200) 18 | # 19 | # 获取串口列表 20 | plist = [ 21 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 22 | ] 23 | 24 | # 初始化一个ultraArmP340对象 25 | # 下面为 windows版本创建对象代码 26 | ua = ultraArmP340(plist[0], 115200) 27 | 28 | # ultraArmP340进行坐标运动/角度运动之前必须进行回零，否则无法获取到正确的角度/坐标 29 | ua.go_zero() 30 | time.sleep(0.5) 31 | 32 | # 获取当前头部的坐标以及姿态 33 | coords = ua.get_coords_info() 34 | time.sleep(2) 35 | print(coords) 36 | 37 | # # 让机械臂到达[57.0,-10,30]这个坐标，速度为80mm/s 38 | ua.set_coords([57.0,-10,30], 80) 39 | 40 | # 设置等待时间2秒 41 | time.sleep(2) 42 | 43 | # 让机械臂到达[-13.7, 40, 20]这个坐标，速度为80mm/s 44 | ua.set_coords([-13.7, 40, 20], 80) 45 | 46 | # 设置等待时间2秒 47 | time.sleep(2) 48 | 49 | # 仅改变头部的x坐标，设置头部的x坐标为-40，速度为70mm/s 50 | ua.set_coord(1, -40, 70) -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/5-Palletizing_handling.py: -------------------------------------------------------------------------------- 1 | from pymycobot.ultraArmP340 import ultraArmP340 2 | import serial 3 | import serial.tools.list_ports 4 | 5 | # 被搬运的木块的坐标位置 6 | green_pos = [[74.6, 167.55, 120], [74.6, 167.55, 92.45], [74.6, 167.55, 52.45], [74.6, 167.55, 12.45]] 7 | red_pos = [[112.67, 173.5, 120], [112.67, 173.5, 92.45], [112.67, 173.5, 52.45], [112.67, 173.5, 12.45]] 8 | yellow_pos = [[150.92, 167.61, 120], [150.92, 167.61, 92.45], [150.92, 167.61, 52.45], [150.92, 167.61, 12.45]] 9 | 10 | # 木块到达的坐标位置 11 | cube_pos_g = [[200, -75, 120], [200, -75, 15], [200, -75, 55], [200, -75, 95]] 12 | cube_pos_r = [[150.63, -75, 15], [150.63, -75, 55], [150.63, -75, 95]] 13 | cube_pos_y = [[109.63, -75, 15], [109.63, -75, 55], [109.63, -75, 95]] 14 | 15 | # 被搬运的木块所在的方向 16 | block_high = [60, 5, 0] 17 | 18 | # 木块到达的位置所在方向 19 | cube_high = [-30, 10, 10] 20 | 21 | # 获取串口列表 22 | plist = [ 23 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 24 | ] 25 | 26 | # 连接串口 27 | ua = ultraArmP340(plist[0],115200) 28 | 29 | # ultraArmP340进行坐标运动/角度运动之前必须进行回零，否则无法获取到正确的角度/坐标 30 | ua.go_zero() 31 | ua.sleep(0.5) 32 | 33 | 34 | # Yellow 35 | # 搬运第一个木块 36 | # 移动到木块所在方向 37 | ua.set_angles(block_high, 50) 38 | ua.sleep(0.5) 39 | 40 | ua.set_coords(yellow_pos[0], 50) 41 | ua.sleep(1) 42 | 43 | # 到达木块所在位置 44 | ua.set_coords(yellow_pos[1], 50) 45 | ua.sleep(1) 46 | # 打开吸泵 47 | ua.set_gpio_state(0) 48 | ua.sleep(0.5) 49 | 50 | # 移动到需要到达的位置上方 51 | ua.set_angles(cube_high, 50) 52 | ua.sleep(0.5) 53 | 54 | # 下降到需要到达的位置 55 | ua.set_coords(cube_pos_y[0], 50) 56 | ua.sleep(0.5) 57 | # 关闭吸泵 58 | ua.set_gpio_state(1) 59 | ua.sleep(0.5) 60 | 61 | # 移动到木块所在位置上方，一次搬运动作完成，后续搬运动作跟此次搬运动作一致 62 | ua.set_angles(cube_high, 50) 63 | ua.sleep(0.5) 64 | 65 | #2 66 | ua.set_angles(block_high, 50) 67 | ua.sleep(0.5) 68 | 69 | ua.set_coords(yellow_pos[0], 50) 70 | ua.sleep(1) 71 | 72 | ua.set_coords(yellow_pos[2], 50) 73 | ua.sleep(1) 74 | ua.set_gpio_state(0) 75 | ua.sleep(0.5) 76 | 77 | ua.set_angles(cube_high, 50) 78 | ua.sleep(0.5) 79 | 80 | ua.set_coords(cube_pos_y[1], 50) 81 | ua.sleep(0.5) 82 | ua.set_gpio_state(1) 83 | ua.sleep(0.5) 84 | 85 | ua.set_angles(cube_high, 50) 86 | ua.sleep(0.5) 87 | 88 | # Red 89 | # 1 90 | ua.set_angles(block_high, 50) 91 | ua.sleep(0.5) 92 | 93 | ua.set_coords(red_pos[0], 50) 94 | ua.sleep(1) 95 | 96 | ua.set_coords(red_pos[1], 50) 97 | ua.sleep(1) 98 | ua.set_gpio_state(0) 99 | ua.sleep(0.5) 100 | 101 | ua.set_angles(cube_high, 50) 102 | ua.sleep(0.5) 103 | 104 | ua.set_coords(cube_pos_r[0], 50) 105 | ua.sleep(0.5) 106 | ua.set_gpio_state(1) 107 | ua.sleep(0.5) 108 | 109 | ua.set_angles(cube_high, 50) 110 | ua.sleep(0.5) 111 | 112 | #2 113 | ua.set_angles(block_high, 50) 114 | ua.sleep(0.5) 115 | 116 | ua.set_coords(red_pos[0], 50) 117 | ua.sleep(1) 118 | 119 | ua.set_coords(red_pos[2], 50) 120 | ua.sleep(1) 121 | ua.set_gpio_state(0) 122 | ua.sleep(0.5) 123 | 124 | ua.set_angles(cube_high, 50) 125 | ua.sleep(0.5) 126 | 127 | ua.set_coords(cube_pos_r[1], 50) 128 | ua.sleep(0.5) 129 | ua.set_gpio_state(1) 130 | ua.sleep(0.5) 131 | 132 | ua.set_angles(cube_high, 50) 133 | ua.sleep(0.5) 134 | 135 | 136 | # Green 137 | # 1 138 | ua.set_angles(block_high, 50) 139 | ua.sleep(0.5) 140 | 141 | ua.set_coords(green_pos[0], 50) 142 | ua.sleep(1) 143 | 144 | ua.set_coords(green_pos[1], 50) 145 | ua.sleep(1) 146 | ua.set_gpio_state(0) 147 | ua.sleep(0.5) 148 | 149 | ua.set_angles(cube_high, 50) 150 | ua.sleep(0.5) 151 | 152 | ua.set_coords(cube_pos_g[0], 50) 153 | ua.sleep(0.5) 154 | 155 | ua.set_coords(cube_pos_g[1], 50) 156 | ua.sleep(0.5) 157 | ua.set_gpio_state(1) 158 | ua.sleep(0.5) 159 | 160 | ua.set_angles(cube_high, 50) 161 | ua.sleep(0.5) 162 | 163 | #2 164 | ua.set_angles(block_high, 50) 165 | ua.sleep(0.5) 166 | 167 | ua.set_coords(green_pos[0], 50) 168 | ua.sleep(1) 169 | 170 | ua.set_coords(green_pos[2], 50) 171 | ua.sleep(1) 172 | ua.set_gpio_state(0) 173 | ua.sleep(0.5) 174 | 175 | ua.set_angles(cube_high, 50) 176 | ua.sleep(0.5) 177 | 178 | ua.set_coords(cube_pos_g[0], 50) 179 | ua.sleep(0.5) 180 | 181 | ua.set_coords(cube_pos_g[2], 50) 182 | ua.sleep(0.5) 183 | ua.set_gpio_state(1) 184 | ua.sleep(0.5) 185 | 186 | ua.set_angles(cube_high, 50) 187 | ua.sleep(0.5) -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/6-laser_use.py: -------------------------------------------------------------------------------- 1 | from pymycobot.ultraArmP340 import ultraArmP340 2 | import time 3 | import serial 4 | import serial.tools.list_ports 5 | 6 | #以上需写在代码开头，意为导入项目包 7 | 8 | # ultraArmP340 类初始化需要两个参数：串口和波特率 9 | # 第一个是串口字符串， 如： 10 | # linux： "/dev/ttyUSB0" 11 | # windows: "COM3" 12 | # 第二个是波特率：115200 13 | # 以下为如: 14 | # linux: 15 | # ua = ultraArmP340("/dev/USB0", 115200) 16 | # windows: 17 | # ua = ultraArmP340("COM3", 115200) 18 | # 19 | 20 | plist = [ 21 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 22 | ] 23 | 24 | # 初始化一个ultraArmP340对象 25 | # 下面为 windows版本创建对象代码 26 | ua = ultraArmP340(plist[0], 115200) 27 | ua.go_zero() 28 | 29 | time.sleep(2) 30 | 31 | ua.set_pwm(128) -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/8-gripper_use.py: -------------------------------------------------------------------------------- 1 | import time 2 | import platform 3 | import serial 4 | import serial.tools.list_ports 5 | from pymycobot.ultraArmP340 import ultraArmP340 6 | 7 | plist = [ 8 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 9 | ] 10 | 11 | # 自动选择系统并连接机械臂 12 | if platform.system() == "Windows": 13 | ua = ultraArmP340(plist[0], 115200) 14 | ua.go_zero() 15 | elif platform.system() == "Linux": 16 | ua = ultraArmP340('/dev/ttyUSB0', 115200) 17 | ua.go_zero() 18 | 19 | # 机械臂运动的位置 20 | angles = [ 21 | [-81.71, 0.0, 0.0], 22 | [-90.53, 21.77, 47.56], 23 | [-90.53, 0.0, 0.0], 24 | [-59.01, 21.77, 45.84], 25 | [-59.01, 0.0, 0.0] 26 | ] 27 | 28 | ua.set_angles(angles[0], 50) 29 | time.sleep(3) 30 | 31 | i = 5 32 | # 循环5次 33 | while i > 0: 34 | # 张开夹爪 35 | ua.set_gripper_state(0) 36 | time.sleep(2) 37 | # 闭合夹爪 38 | ua.set_gripper_state(1) 39 | time.sleep(2) 40 | i -= 1 -------------------------------------------------------------------------------- /demo/ultraArm_P340_demo/9-pump_use.py: -------------------------------------------------------------------------------- 1 | from pymycobot.ultraArmP340 import ultraArmP340 2 | import time 3 | import serial 4 | import serial.tools.list_ports 5 | #输入以上代码导入工程所需要的包 6 | 7 | # ultraArmP340 类初始化需要两个参数： 8 | # 第一个是串口字符串， 如： 9 | # linux： "/dev/ttyUSB0" 10 | # windows: "COM3" 11 | # 第二个是波特率: 115200 12 | # 13 | # 如: 14 | # linux: 15 | # ua = ultraArmP340("/dev/USB0", 115200) 16 | # windows: 17 | # ua = ultraArmP340("COM3", 115200) 18 | # 19 | 20 | plist = [ 21 | str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports() 22 | ] 23 | 24 | # 初始化一个ultraArmP340对象 25 | # 下面为 windows版本创建对象代码 26 | ua = ultraArmP340(plist[0], 115200) 27 | 28 | # ultraArmP340进行坐标运动/角度运动之前必须进行回零，否则无法获取到正确的角度/坐标 29 | ua.go_zero() 30 | time.sleep(0.5) 31 | 32 | # 开启吸泵 33 | ua.set_gpio_state(0) 34 | 35 | #等待2 秒 36 | time.sleep(3) 37 | 38 | 39 | # 关闭吸泵 40 | ua.set_gpio_state(1) 41 | 42 | time.sleep(2) -------------------------------------------------------------------------------- /docs/Mercury_X1_Chassis_en.md: -------------------------------------------------------------------------------- 1 | # Mercury X1 Chassis 2 | 3 | --- 4 | 5 | - **Prerequisites** 6 | - First, open a console terminal and run the following command to start chassis communication. 7 | 8 | ```bash 9 | roslaunch turn_on_mercury_robot mapping.launch 10 | ``` 11 | 12 | - **API Usage Instructions** 13 | >> API (Application Programming Interface), also known as application programming interface function, is a predefined function. When using the following function interface, please enter the following code at the beginning to import our API library, otherwise it will not run successfully. 14 | 15 | ```python 16 | # demo 17 | from pymycobot import mercurychassis_api 18 | 19 | mc = ChassisControl('/dev/wheeltec_controller') 20 | 21 | # Get battery voltage 22 | voltage = mc.get_power_voltage() 23 | print(voltage) 24 | 25 | # Set the chassis RGB light strip to green 26 | mc.set_color(255, 0, 0) 27 | ``` 28 | 29 | ## get_power_voltage() 30 | 31 | - Function: Get the battery voltage. 32 | - Return value: Battery voltage (floating point type), unit: Volt 33 | 34 | ## get_ultrasonic_value() 35 | 36 | - Function: Get all ultrasonic data. 37 | - Return value: List of all ultrasonic data, unit: millimeter. 38 | 39 | ## go_straight(speed) 40 | 41 | - Function: Control the chassis to move forward. 42 | - Parameters: 43 | - speed: (floating point type) the speed of chassis movement, the range is `0 ~ 1`, unit: meters per second. 44 | 45 | ## go_back(speed) 46 | 47 | - Function: Control chassis to move backward. 48 | - Parameters: 49 | - speed: (floating point type) chassis movement speed, range is `-1 ~ 0`, unit: meter per second. 50 | 51 | ## turn_left(speed) 52 | 53 | - Function: Control the chassis to rotate to the left. 54 | - Parameters: 55 | - speed: (floating point type) the speed of chassis movement, ranging from `0 ~ 1`, unit: meters per second. 56 | 57 | ## turn_right(speed) 58 | 59 | - Function: Control chassis to rotate right. 60 | - Parameters: 61 | - speed: (floating point type) chassis movement speed, range is `-1 ~ 0`, unit: meters per second. 62 | 63 | ## stop() 64 | 65 | - Function: Stop motion. 66 | 67 | ## set_color(r, g, b) 68 | 69 | - Function: Set the color of the chassis RGB light strip. 70 | - Parameters: 71 | - r (int): 0 ~ 255 72 | - g (int): 0 ~ 255 73 | - b (int): 0 ~ 255 74 | 75 | -------------------------------------------------------------------------------- /docs/Mercury_X1_Chassis_zh.md: -------------------------------------------------------------------------------- 1 | # Mercury X1 Chassis 2 | 3 | --- 4 | 5 | - 使用前提 6 | - 先在打开一个控制台终端运行下面指令，启动底盘通信。 7 | 8 | ```bash 9 | roslaunch turn_on_mercury_robot mapping.launch 10 | ``` 11 | 12 | - API使用说明 13 | >> API (Application Programming Interface), 也称为应用程序编程接口函数，是预定义的函数。使用以下函数接口时，请在开始时输入以下代码导入我们的 API 库，否则将无法成功运行. 14 | 15 | ```python 16 | # 示例 17 | from pymycobot import mercurychassis_api 18 | 19 | mc = ChassisControl('/dev/wheeltec_controller') 20 | 21 | # 获取电池电压 22 | voltage = mc.get_power_voltage() 23 | print(voltage) 24 | 25 | # 设置底盘RGB灯带为绿色 26 | mc.set_color(255, 0, 0) 27 | ``` 28 | 29 | ## get_power_voltage() 30 | 31 | - 功能：获取电池电压。 32 | - 返回值：电池电压（浮点型），单位：伏特 33 | 34 | ## get_ultrasonic_value() 35 | 36 | - 功能：获取所有超声波数据 37 | - 返回值：所有超声波数据列表，单位：毫米。 38 | 39 | ## go_straight(speed) 40 | 41 | - 功能：控制底盘前进 42 | - 参数： 43 | - speed：（浮点型）底盘运动的速度，范围是`0 ~ 1`，单位：米每秒。 44 | 45 | ## go_back(speed) 46 | 47 | - 功能：控制底盘后退 48 | - 参数： 49 | - speed：（浮点型）底盘运动的速度，范围是`-1 ~ 0`，单位：米每秒。 50 | 51 | ## turn_left(speed) 52 | 53 | - 功能：控制底盘向左旋转 54 | - 参数： 55 | - speed：（浮点型）底盘运动的速度，范围是`0 ~ 1`，单位：米每秒。 56 | 57 | ## turn_right(speed) 58 | 59 | - 功能：控制底盘右旋转 60 | - 参数： 61 | - speed：（浮点型）底盘运动的速度，范围是`-1 ~ 0`，单位：米每秒。 62 | 63 | ## stop() 64 | 65 | - 功能：停止运动 66 | 67 | ## set_color(r, g, b) 68 | 69 | - 功能：设置底盘RGB灯带颜色 70 | - 参数： 71 | - r (int)：0 ~ 255 72 | - g (int)：0 ~ 255 73 | - b (int)：0 ~ 255 74 | 75 | -------------------------------------------------------------------------------- /docs/MyCobot_280_RDKX5_zh.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/docs/MyCobot_280_RDKX5_zh.md -------------------------------------------------------------------------------- /docs/README.md: -------------------------------------------------------------------------------- 1 | # pymycobot 2 | 3 | **This is python API for ElephantRobotics product** 4 | 5 | We support Python2, Python3.5 or later. 6 | 7 | ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/chinese.svg) ![jaywcjlove/sb](https://jaywcjlove.github.io/sb/lang/english.svg) 8 | 9 | [MyCobot 280 API说明](./MyCobot_280_zh.md) | [MyCobot 280 API Description](./MyCobot_280_en.md) 10 | 11 | [MyCobot 320 API说明](./MyCobot_320_zh.md) | [MyCobot 320 API Description](./MyCobot_320_en.md) 12 | 13 | [MechArm 270 API说明](./MechArm_270_zh.md) | [MechArm 270 API Description](./MechArm_270_en.md) 14 | 15 | [MyPalletizer 260 API说明](./MyPalletizer_260_zh.md) | [MyPalletizer 260 API Description](./MyPalletizer_260_en.md) 16 | 17 | [myAGV API说明](./myAGV_zh.md) | [myAGV API Description](./myAGV_en.md) 18 | 19 | [myArm_M&C API说明](./myArm_M&C_zh.md) | [myArm_M&C API Description](./myArm_M&C_en.md) 20 | 21 | [ultraArm P340 API说明](./ultraArm_P340_zh.md) | [ultraArm P340 API Description](./ultraArm_P340_en.md) 22 | 23 | [MyBuddy API说明](./MyBuddy_zh.md) | [MyBuddy API Description](./MyBuddy_en.md) 24 | 25 | [MyBuddyEmoticon API说明](./mybuddy_emoticon_zh.md) | [MyBuddyEmoticon API Description](./mybuddy_emoticon_en.md) 26 | 27 |
28 | Catalogue: 29 | 30 | 31 | 32 | - [pymycobot](#pymycobot) 33 | 34 | 35 |
36 | 37 | --- 38 | More demo can go to [here](../demo). 39 | -------------------------------------------------------------------------------- /docs/myAGV_en.md: -------------------------------------------------------------------------------- 1 | # myAgv 2 | 3 |
4 | Catalogue: 5 | 6 | - [myAgv](#myagv) 7 | - [set\_led(mode, R, G, B)](#set_ledmode-r-g-b) 8 | - [get\_firmware\_version](#get_firmware_version) 9 | - [get\_motors\_current](#get_motors_current) 10 | - [get\_battery\_info](#get_battery_info) 11 | - [go\_ahead(go\_speed)](#go_aheadgo_speed) 12 | - [retreat(back\_speed)](#retreatback_speed) 13 | - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed) 14 | - [pan\_right(pan\_right\_speed)](#pan_rightpan_right_speed) 15 | - [clockwise\_rotation(rotate\_right\_speed)](#clockwise_rotationrotate_right_speed) 16 | - [counterclockwise\_rotation(rotate\_left\_speed)](#counterclockwise_rotationrotate_left_speed) 17 | - [stop()](#stop) 18 | - [restore()](#restore) 19 | 20 |
21 | 22 | ## set_led(mode, R, G, B) 23 | 24 | Set up LED lights 25 | 26 | - **Parameters** 27 | 28 | - **mode** – 1 - Set LED light color. 2 - Set the LED light to blink. 29 | 30 | - **R** – (int) 0 ~ 255 31 | 32 | - **G** – (int) 0 ~ 255 33 | 34 | - **B** – (int) 0 ~ 255 35 | 36 | ## get_firmware_version 37 | 38 | Get firmware version number 39 | 40 | ## get_motors_current 41 | 42 | Get the total current of the motor 43 | 44 | ## get_battery_info 45 | 46 | Read battery information 47 | 48 | - **Return** 49 | list : [battery_data, battery_1_voltage, battery_2_voltage]. 50 | `battery_data`:A string of length 6, represented from left to right: bit5, bit4, bit3, bit2, bit1, bit0. 51 | bit5 : Battery 2 is inserted into the interface 1 means inserted, 0 is not inserted. 52 | bit4 : Battery 1 is inserted into the interface, 1 means inserted, 0 is not inserted. 53 | bit3 : The adapter is plugged into the interface 1 means plugged in, 0 not plugged in. 54 | bit2 : The charging pile is inserted into the interface, 1 means plugged in, 0 is not plugged in. 55 | bit1 : Battery 2 charging light 0 means off, 1 means on. 56 | bit0 : Battery 1 charging light, 0 means off, 1 means on. 57 | `battery_1_voltage` : Battery 1 voltage in volts. 58 | `battery_2_voltage` : Battery 2 voltage in volts. 59 | 60 | 71 | 72 | ## go_ahead(go_speed) 73 | 74 | Control the car to move forward 75 | 76 | - **Parameters** 77 | 78 | - **go_speed** – (int) 1 ~ 127 is forward.The smaller the value, the smaller the speed 79 | 80 | ## retreat(back_speed) 81 | 82 | Control the car back 83 | 84 | - **Parameters** 85 | 86 | - **back_speed** – (int) 1 ~ 127 is backward.The smaller the value, the smaller the speed 87 | 88 | ## pan_left(pan_left_speed) 89 | 90 | Control the car to pan to the left 91 | 92 | - **Parameters** 93 | 94 | - **pan_left_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed 95 | 96 | ## pan_right(pan_right_speed) 97 | 98 | Control the car to pan to the right 99 | 100 | - **Parameters** 101 | 102 | - **pan_right_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed 103 | 104 | ## clockwise_rotation(rotate_right_speed) 105 | 106 | Control the car to rotate clockwise 107 | 108 | - **Parameters** 109 | 110 | - **rotate_right_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed 111 | 112 | ## counterclockwise_rotation(rotate_left_speed) 113 | 114 | Control the car to rotate counterclockwise 115 | 116 | - **Parameters** 117 | 118 | - **rotate_left_speed** – (int) 1 ~ 127.The smaller the value, the smaller the speed 119 | 120 | ## stop() 121 | 122 | stop motion. 123 | 124 | ## restore() 125 | 126 | Motor stall recovery 127 | -------------------------------------------------------------------------------- /docs/myAGV_zh.md: -------------------------------------------------------------------------------- 1 | # myAgv 2 | 3 |
4 | API目录: 5 | 6 | - [myAgv](#myagv) 7 | - [set\_led(mode, R, G, B)](#set_ledmode-r-g-b) 8 | - [get\_firmware\_version](#get_firmware_version) 9 | - [get\_motors\_current](#get_motors_current) 10 | - [get\_battery\_info](#get_battery_info) 11 | - [go\_ahead(go\_speed)](#go_aheadgo_speed) 12 | - [retreat(back\_speed)](#retreatback_speed) 13 | - [pan\_left(pan\_left\_speed)](#pan_leftpan_left_speed) 14 | - [pan\_right(pan\_right\_speed)](#pan_rightpan_right_speed) 15 | - [clockwise\_rotation(rotate\_right\_speed)](#clockwise_rotationrotate_right_speed) 16 | - [counterclockwise\_rotation(rotate\_left\_speed)](#counterclockwise_rotationrotate_left_speed) 17 | - [stop()](#stop) 18 | - [restore()](#restore) 19 | 20 |
21 | 22 | ## set_led(mode, R, G, B) 23 | 24 | 设置led灯颜色 25 | 26 | - **参数** 27 | 28 | - **mode** – 1 - 常亮. 2 - 闪烁. 29 | 30 | - **R** – (int) 0 ~ 255 31 | 32 | - **G** – (int) 0 ~ 255 33 | 34 | - **B** – (int) 0 ~ 255 35 | 36 | ## get_firmware_version 37 | 38 | 获取固件版本号 39 | 40 | ## get_motors_current 41 | 42 | 获取电机电流信息 43 | 44 | ## get_battery_info 45 | 46 | 获取电池信息 47 | 48 | - **Return** 49 | list : [battery_data, battery_1_voltage, battery_2_voltage]. 50 | `battery_data`: 长度为6的字符串, 从左到右依次对应: bit5, bit4, bit3, bit2, bit1, bit0. 51 | bit5 : 电池2插入接口，1表示插入，0未插入. 52 | bit4 : 电池1插入接口，1表示插入，0未插入. 53 | bit3 : 适配器插入接口，1表示插入，0未插入. 54 | bit2 : 充电桩插入接口，1表示插入，0未插入. 55 | bit1 : 电池2充电灯，0表示没亮，1表示亮. 56 | bit0 : 电池1充电灯，0表示没亮，1表示亮. 57 | `battery_1_voltage` : 电池1电压. 58 | `battery_2_voltage` : 电池2电压. 59 | 60 | 71 | 72 | ## go_ahead(go_speed) 73 | 74 | 控制前进 75 | 76 | - **参数** 77 | 78 | - **go_speed** – (int) 1 ~ 127 数值越小，速度越慢 79 | 80 | ## retreat(back_speed) 81 | 82 | 控制后退 83 | 84 | - **参数** 85 | 86 | - **back_speed** – (int) 1 ~ 127 数值越小，速度越慢 87 | 88 | ## pan_left(pan_left_speed) 89 | 90 | 控制左平移 91 | 92 | - **参数** 93 | 94 | - **pan_left_speed** – (int) 1 ~ 127 数值越小，速度越慢 95 | 96 | ## pan_right(pan_right_speed) 97 | 98 | 控制右平移 99 | 100 | - **参数** 101 | 102 | - **pan_right_speed** – (int) 1 ~ 127 数值越小，速度越慢 103 | 104 | ## clockwise_rotation(rotate_right_speed) 105 | 106 | 控制顺时针旋转 107 | 108 | - **参数** 109 | 110 | - **rotate_right_speed** – (int) 1 ~ 127 数值越小，速度越慢 111 | 112 | ## counterclockwise_rotation(rotate_left_speed) 113 | 114 | 控制逆时针旋转 115 | 116 | - **参数** 117 | 118 | - **rotate_left_speed** – (int) 1 ~ 127 数值越小，速度越慢 119 | 120 | ## stop() 121 | 122 | 停止运动 123 | 124 | ## restore() 125 | 126 | 堵转恢复 127 | -------------------------------------------------------------------------------- /docs/mybuddy_emoticon_en.md: -------------------------------------------------------------------------------- 1 | # MyBuddyEmoticon 2 | 3 | ```python 4 | from pymycobot import MyBuddyEmoticon 5 | import time 6 | 7 | # [video_path, Playback_duration(s)] 8 | video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10] 9 | 10 | datas = [video1] 11 | 12 | me = MyBuddyEmoticon(datas) 13 | me.start() 14 | ``` 15 | 16 | ## MyBuddyEmoticon(file_path: list = [], window_size: tuple = (), loop=False) 17 | 18 | * **Function:** API for playing emoticons 19 | 20 | * **Parameters:** 21 | 22 | - **file_path (list)**: `[[path, time]]`The absolute path of facial expression video and the length of time to play.Time in seconds. 23 | - **window_size (tuple)**: `(Length, width) `Size of the playback window (default is full screen). 24 | - **loop (bool)**: Loop playback or not (default False. only once by default). 25 | 26 | ### file_path() 27 | 28 | * **Function:** Get Playfile List 29 | * **Return** 30 | * video path list 31 | 32 | ### add_file_path(path_time) 33 | 34 | * **Function:** Add Playback File 35 | * **Parameters** 36 | **path_time(list)**: `[path, time]` The video address to be added and the running time 37 | 38 | ### del_file_path(index) 39 | 40 | * **Function:** Delete the element with the specified subscript in the playlist list 41 | * **Parameters** 42 | 43 | **index(int)**:: The subscript of the element in the playlist to be deleted 44 | 45 | ### pause() 46 | 47 | * **Function:** Pause playback 48 | 49 | ### run() 50 | 51 | * **Function:** Continue playing 52 | 53 | ### start() 54 | 55 | * **Function:** start playing video 56 | 57 | ### join() 58 | 59 | * **Function:** Wait for the thread playing the video to finish. 60 | 61 | [--->>> play_demo](../demo/mybuddy_demo/mybuddy_emoticon_demo.py) -------------------------------------------------------------------------------- /docs/mybuddy_emoticon_zh.md: -------------------------------------------------------------------------------- 1 | # MyBuddyEmoticon 2 | 3 | ```python 4 | from pymycobot import MyBuddyEmoticon 5 | import time 6 | 7 | # [video_path, Playback_duration(s)] 8 | video1 = ["/home/er/pymycobot/emo/face_video_3_2.mp4", 10] 9 | 10 | datas = [video1] 11 | 12 | me = MyBuddyEmoticon(datas) 13 | me.start() 14 | ``` 15 | 16 | ## MyBuddyEmoticon(file_path: list = [], window_size: tuple = (), loop=False) 17 | 18 | * **功能**：播放表情的 API 19 | 20 | * **参数**： 21 | 22 | - **file_path (list)**：`[[path, time]]` 表情视频的绝对路径及播放时长，单位为秒。 23 | - **window_size (tuple)**：`(长, 宽)` 播放窗口大小（默认全屏）。 24 | - **loop (bool)**：是否循环播放（默认 False，仅循环播放一次）。 25 | 26 | ### file_path() 27 | 28 | * **功能：** 获取播放文件列表 29 | * **返回** 30 | * 视频路径列表 31 | 32 | ### add_file_path(path_time) 33 | 34 | * **功能：** 添加播放文件 35 | * **参数** 36 | **path_time(list)**: `[path, time]` 待添加的视频地址及播放时长 37 | 38 | ### del_file_path(index) 39 | 40 | * **函数：** 删除播放列表中指定下标的元素 41 | * **参数：** 42 | 43 | **index(int)**:: 待删除元素在播放列表中的下标 44 | 45 | ### pause() 46 | 47 | **功能：** 暂停播放 48 | 49 | ### run() 50 | 51 | **功能：** 继续播放 52 | 53 | ### start() 54 | 55 | * **功能：** 开始播放视频 56 | 57 | ### join() 58 | 59 | * **功能**：等待播放视频的线程完成。 60 | 61 | [--->>> 播放演示](../demo/mybuddy_demo/mybuddy_emoticon_demo.py) -------------------------------------------------------------------------------- /f3-min2.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/f3-min2.jpg -------------------------------------------------------------------------------- /pymycobot/__init__.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | from __future__ import absolute_import 4 | import datetime 5 | import sys 6 | from pymycobot.mycobot280 import MyCobot280 7 | from pymycobot.mycobot280rdkx5 import MyCobot280RDKX5, MyCobot280RDKX5Socket 8 | from pymycobot.mypalletizer260 import MyPalletizer260 9 | from pymycobot.mecharm270 import MechArm270 10 | from pymycobot.mycobot280socket import MyCobot280Socket 11 | from pymycobot.mycobot320socket import MyCobot320Socket 12 | from pymycobot.mycobot320 import MyCobot320 13 | from pymycobot.generate import CommandGenerator 14 | from pymycobot.Interface import MyBuddyCommandGenerator 15 | from pymycobot.mycobot import MyCobot 16 | from pymycobot.mybuddy import MyBuddy 17 | from pymycobot.mecharm import MechArm 18 | from pymycobot.mypalletizer import MyPalletizer 19 | from pymycobot.mycobotsocket import MyCobotSocket 20 | from pymycobot.genre import Angle, Coord 21 | from pymycobot import utils 22 | from pymycobot.mybuddysocket import MyBuddySocket 23 | from pymycobot.ultraArm import ultraArm 24 | from pymycobot.mybuddybluetooth import MyBuddyBlueTooth 25 | from pymycobot.mypalletizersocket import MyPalletizerSocket 26 | from pymycobot.myarm import MyArm 27 | from pymycobot.myarmsocket import MyArmSocket 28 | from pymycobot.elephantrobot import ElephantRobot 29 | from pymycobot.mercury import Mercury 30 | from pymycobot.myagv import MyAgv 31 | from pymycobot.myagvpro import MyAGVPro 32 | from pymycobot.myagvpro_socket import MyAGVProSocket 33 | from pymycobot.myagvpro_bluetooth import MyAGVProBluetooth 34 | from pymycobot.myarmsocket import MyArmSocket 35 | from pymycobot.mecharmsocket import MechArmSocket 36 | # from pymycobot.mycobotpro630 import Phoenix 37 | from pymycobot.mercurysocket import MercurySocket 38 | from pymycobot.myarmm import MyArmM 39 | from pymycobot.myarmc import MyArmC 40 | from pymycobot.pro630 import Pro630 41 | from pymycobot.pro630client import Pro630Client 42 | from pymycobot.pro400 import Pro400 43 | from pymycobot.pro400client import Pro400Client 44 | from pymycobot.myarmm_control import MyArmMControl 45 | from pymycobot.mercurychassis_api import ChassisControl 46 | from pymycobot.conveyor_api import ConveyorAPI 47 | from pymycobot.ultraArmP340 import ultraArmP340 48 | from pymycobot.exoskeleton import Exoskeleton 49 | from pymycobot.exoskeletonsocket import ExoskeletonSocket 50 | from pymycobot.mybuddyemoticon import MyBuddyEmoticon 51 | 52 | 53 | __all__ = [ 54 | "MyPalletizer260", 55 | "MechArm270", 56 | "MyCobot280", 57 | "MyCobot320", 58 | "MyCobot", 59 | "CommandGenerator", 60 | "Angle", 61 | "Coord", 62 | "utils", 63 | "MyPalletizer", 64 | "MyCobotSocket", 65 | "MyBuddyCommandGenerator", 66 | "MyBuddy", 67 | "MyBuddySocket", 68 | "MyBuddyBlueTooth", 69 | "ultraArm", 70 | "MyPalletizerSocket", 71 | "MechArm", 72 | "MyArm", 73 | "ElephantRobot", 74 | "Mercury", 75 | "MyAgv", 76 | "MyAGVPro", 77 | "MyAGVProSocket", 78 | "MyAGVProBluetooth", 79 | "MechArmSocket", 80 | "MyArmSocket", 81 | "MercurySocket", 82 | "MyArmM", 83 | "MyArmC", 84 | # "Phoenix", 85 | "Pro630", 86 | "Pro630Client", 87 | "Pro400", 88 | "Pro400Client", 89 | "MyCobot280Socket", 90 | "MyCobot320Socket", 91 | "MyArmMControl", 92 | "ChassisControl", 93 | "ConveyorAPI", 94 | "MyCobot280RDKX5", 95 | "MyCobot280RDKX5Socket", 96 | "ultraArmP340", 97 | "Exoskeleton", 98 | "ExoskeletonSocket", 99 | "MyBuddyEmoticon" 100 | ] 101 | 102 | __version__ = "3.9.9" 103 | __author__ = "Elephantrobotics" 104 | __email__ = "weiquan.xu@elephantrobotics.com" 105 | __git_url__ = "https://github.com/elephantrobotics/pymycobot" 106 | __copyright__ = "CopyRight (c) 2020-{0} Shenzhen Elephantrobotics technology".format( 107 | datetime.datetime.now().year 108 | ) 109 | 110 | # For raspberry mycobot 280. 111 | PI_PORT = "/dev/ttyAMA0" 112 | PI_BAUD = 1000000 113 | -------------------------------------------------------------------------------- /pymycobot/bluet.py: -------------------------------------------------------------------------------- 1 | # coding: utf-8 2 | import sys 3 | 4 | class BluetoothConnection: 5 | def __init__(self, bd_address=None, port=None): 6 | self.device = [] 7 | import bluetooth 8 | self.bluetooth = bluetooth 9 | self.target_name = "mybuddy" 10 | self.nearby_devices = None 11 | self.bd_address = bd_address 12 | self.port = port 13 | 14 | def find_target_device(self): 15 | available_addr = [] 16 | self.nearby_devices = self.bluetooth.discover_devices(lookup_names=True, duration=5) 17 | if self.nearby_devices: 18 | for addr, name in self.nearby_devices: 19 | if self.target_name == name: 20 | available_addr.append(addr) 21 | return available_addr 22 | return None 23 | 24 | def connect_target_device(self): 25 | if self.bd_address: 26 | sock = self.bluetooth.BluetoothSocket(self.bluetooth.RFCOMM) 27 | sock.connect((self.bd_address, self.port)) 28 | return sock 29 | target_address = self.find_target_device() 30 | if target_address: 31 | if len(target_address) > 1: 32 | device_info = "" 33 | i = 1 34 | sys.stdout.write("please select the device you want to connect:\n".format(4)) 35 | for addr, name in target_address: 36 | device_info += "{} >>> {} - {} \n".format(i,addr, name) 37 | sys.stdout.write(device_info) 38 | choose_device = input("please enter 1-{}:".format(len(target_address))) 39 | target_address = target_address[int(choose_device)-1][0] 40 | sock = self.bluetooth.BluetoothSocket(self.bluetooth.RFCOMM) 41 | try: 42 | sock.connect((target_address[0][0], 1)) 43 | return sock 44 | except Exception as e: 45 | # print("connection fail\n", e) 46 | sock.close() 47 | return None 48 | return None 49 | 50 | if __name__ == "__main__": 51 | pass -------------------------------------------------------------------------------- /pymycobot/genre.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | import enum 4 | 5 | 6 | class Angle(enum.Enum): 7 | J1 = 1 8 | J2 = 2 9 | J3 = 3 10 | J4 = 4 11 | J5 = 5 12 | J6 = 6 13 | 14 | 15 | class Coord(enum.Enum): 16 | X = 1 17 | Y = 2 18 | Z = 3 19 | Rx = 4 20 | Ry = 5 21 | Rz = 6 22 | 23 | -------------------------------------------------------------------------------- /pymycobot/log.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | import logging 4 | import logging.handlers 5 | 6 | 7 | def setup_logging(debug=False): 8 | # logging.basicConfig() 9 | root_logger = logging.getLogger() 10 | 11 | debug_fomatter = logging.Formatter( 12 | fmt="%(asctime)s.%(msecs)03d %(levelname).4s [%(name)s] %(message)s", 13 | datefmt="%H:%M:%S", 14 | ) 15 | logger_handle = logging.StreamHandler() 16 | logger_handle.setFormatter(debug_fomatter) 17 | if debug: 18 | logger_handle.setLevel(logging.DEBUG) 19 | # 100M日志 20 | save = logging.handlers.RotatingFileHandler( 21 | "python_debug.log", maxBytes=100*1024*1024, backupCount=1) 22 | save.setFormatter(debug_fomatter) 23 | root_logger.addHandler(save) 24 | root_logger.setLevel(logging.DEBUG) 25 | else: 26 | logger_handle.setLevel(logging.WARNING) 27 | root_logger.setLevel(logging.WARNING) 28 | 29 | root_logger.addHandler(logger_handle) 30 | # root_logger.setLevel(0) 31 | -------------------------------------------------------------------------------- /pymycobot/mecharm.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | from pymycobot import MyCobot 3 | 4 | class MechArm(MyCobot): 5 | def __init__(self, port, baudrate="115200", timeout=0.1, debug=False, thread_lock=True): 6 | super(MechArm, self).__init__(port, baudrate, timeout, debug, thread_lock) -------------------------------------------------------------------------------- /pymycobot/mercury.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | import time 4 | import threading 5 | import serial 6 | import serial.serialutil 7 | 8 | from pymycobot.mercury_api import MercuryCommandGenerator 9 | 10 | class Mercury(MercuryCommandGenerator): 11 | def __init__(self, port="/dev/ttyAMA1", baudrate="115200", timeout=0.1, debug=False, save_serial_log=False): 12 | """ 13 | Args: 14 | port : port string 15 | baudrate : baud rate string, default '115200' 16 | timeout : default 0.1 17 | debug : whether show debug info 18 | """ 19 | super(Mercury, self).__init__(debug) 20 | self.save_serial_log = save_serial_log 21 | self._serial_port = serial.Serial() 22 | self._serial_port.port = port 23 | self._serial_port.baudrate = baudrate 24 | self._serial_port.timeout = timeout 25 | self._serial_port.rts = False 26 | self._serial_port.open() 27 | self.lock = threading.Lock() 28 | self.lock_out = threading.Lock() 29 | self.read_threading = threading.Thread(target=self.read_thread) 30 | self.read_threading.daemon = True 31 | self.read_threading.start() 32 | try: 33 | self._serial_port.write(b"\xfa") 34 | except serial.serialutil.SerialException as e: 35 | self._serial_port.close() 36 | time.sleep(0.5) 37 | self._serial_port = serial.Serial() 38 | self._serial_port.port = port 39 | self._serial_port.baudrate = baudrate 40 | self._serial_port.timeout = timeout 41 | self._serial_port.rts = False 42 | self._serial_port.open() 43 | self.get_limit_switch() 44 | 45 | def open(self): 46 | self._serial_port.open() 47 | 48 | def close(self): 49 | self._serial_port.close() 50 | -------------------------------------------------------------------------------- /pymycobot/mercury_arms_socket.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: UTF-8 -*- 3 | import json 4 | import struct 5 | import socket 6 | import threading 7 | from pymycobot.mercury_api import MercuryCommandGenerator 8 | from pymycobot.error import calibration_parameters 9 | 10 | """ 11 | for mercury x1 robot arms (six-axis or seven-axis), using socket to communicate with the robot 12 | """ 13 | 14 | 15 | class MercuryArmsSocket(MercuryCommandGenerator): 16 | def __init__(self, arm, ip, netport=9000, debug=False): 17 | """ 18 | Arm socket connection 19 | Args: 20 | arm: 'left_arm' or 'right_arm' 21 | ip: ip address 22 | netport: port 23 | debug: debug mode 24 | """ 25 | super(MercuryArmsSocket, self).__init__(debug) 26 | self.arm = arm 27 | self.calibration_parameters = calibration_parameters 28 | self.SERVER_IP = ip 29 | self.SERVER_PORT = netport 30 | self.sock = self.connect_socket() 31 | self.lock = threading.Lock() 32 | self.lock_out = threading.Lock() 33 | self.read_threading = threading.Thread(target=self.read_thread, args=("socket", )) 34 | self.read_threading.daemon = True 35 | self.read_threading.start() 36 | self.get_limit_switch() 37 | 38 | def connect_socket(self): 39 | sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 40 | sock.connect((self.SERVER_IP, self.SERVER_PORT)) 41 | return sock 42 | 43 | def open(self): 44 | self.sock = self.connect_socket() 45 | 46 | def close(self): 47 | self.sock.close() 48 | self.sock = None 49 | 50 | def __format(self, command: str) -> bytes: 51 | send_data = {"command": command, "arm": self.arm} 52 | data_byter = json.dumps(send_data).encode('utf-8') 53 | date_length = struct.pack('!I', len(data_byter)) 54 | return b''.join([date_length, data_byter]) 55 | 56 | def _write(self, command, method=None): 57 | log_command = " ".join(map(lambda n: hex(n)[2:], command)) 58 | self.log.debug("_write: {}".format(log_command)) 59 | self.sock.sendall(self.__format(command)) 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 | 77 | 78 | 79 | 80 | 81 | 82 | 83 | 84 | 85 | 86 | 87 | -------------------------------------------------------------------------------- /pymycobot/mercurysocket.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | import time 4 | import socket 5 | import threading 6 | 7 | from pymycobot.mercury_api import MercuryCommandGenerator 8 | 9 | 10 | class MercurySocket(MercuryCommandGenerator): 11 | def __init__(self, ip, netport=9000, debug=False): 12 | """ 13 | Args: 14 | ip: Server ip 15 | netport: Server port(default 9000) 16 | """ 17 | super(MercurySocket, self).__init__(debug) 18 | self.SERVER_IP = ip 19 | self.SERVER_PORT = netport 20 | self.sock = self.connect_socket() 21 | self.lock = threading.Lock() 22 | self.lock_out = threading.Lock() 23 | self.read_threading = threading.Thread( 24 | target=self.read_thread, args=("socket", )) 25 | self.read_threading.daemon = True 26 | self.read_threading.start() 27 | self.get_limit_switch() 28 | 29 | def connect_socket(self): 30 | sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 31 | sock.connect((self.SERVER_IP, self.SERVER_PORT)) 32 | return sock 33 | 34 | def open(self): 35 | self.sock = self.connect_socket() 36 | 37 | def close(self): 38 | self.sock.close() 39 | -------------------------------------------------------------------------------- /pymycobot/myagvapi.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: UTF-8 -*- 3 | import serial 4 | import struct 5 | import logging 6 | import logging.handlers 7 | 8 | 9 | def setup_logging(name: str = __name__, debug: bool = False) -> logging.Logger: 10 | debug_formatter = logging.Formatter( 11 | fmt="%(asctime)s.%(msecs)06d %(levelname).4s [%(name)s] %(message)s", 12 | datefmt="%H:%M:%S", 13 | ) 14 | logger = logging.getLogger(name) 15 | stream_handler = logging.StreamHandler() 16 | stream_handler.setFormatter(debug_formatter) 17 | if debug is True: 18 | logger.addHandler(stream_handler) 19 | logger.setLevel(logging.INFO) # 100M日志 20 | file_handler = logging.handlers.RotatingFileHandler( 21 | filename="python_debug.log", maxBytes=100 * 1024 * 1024, backupCount=1 22 | ) 23 | file_handler.setFormatter(debug_formatter) 24 | logger.addHandler(file_handler) 25 | 26 | else: 27 | logger.setLevel(logging.DEBUG) 28 | 29 | return logger 30 | 31 | 32 | def setup_serial_connect(port, baudrate, timeout=None): 33 | serial_api = serial.Serial() 34 | serial_api.port = port 35 | serial_api.baudrate = baudrate 36 | serial_api.timeout = timeout 37 | serial_api.rts = False 38 | serial_api.open() 39 | return serial_api 40 | 41 | 42 | class CommunicationProtocol(object): 43 | def write(self, command): 44 | raise NotImplementedError 45 | 46 | def read(self, size=1): 47 | raise NotImplementedError 48 | 49 | def close(self): 50 | raise NotImplementedError 51 | 52 | def open(self): 53 | raise NotImplementedError 54 | 55 | def is_open(self): 56 | raise NotImplementedError 57 | 58 | def clear(self): 59 | raise NotImplementedError 60 | 61 | 62 | class Utils: 63 | @classmethod 64 | def process_data_command(cls, args): 65 | if not args: 66 | return [] 67 | 68 | processed_args = [] 69 | for index in range(len(args)): 70 | if isinstance(args[index], list): 71 | data = cls.encode_int16(args[index]) 72 | processed_args.extend(data) 73 | else: 74 | processed_args.append(args[index]) 75 | 76 | return cls.flatten(processed_args) 77 | 78 | @classmethod 79 | def flatten(cls, datas): 80 | flat_list = [] 81 | for item in datas: 82 | if not isinstance(item, list): 83 | flat_list.append(item) 84 | else: 85 | flat_list.extend(cls.flatten(item)) 86 | return flat_list 87 | 88 | @classmethod 89 | def float(cls, number, decimal=2): 90 | return round(number / 10 ** decimal, 2) 91 | 92 | @classmethod 93 | def encode_int16(cls, data): 94 | if isinstance(data, int): 95 | return [ 96 | ord(i) if isinstance(i, str) else i 97 | for i in list(struct.pack(">h", data)) 98 | ] 99 | else: 100 | res = [] 101 | for v in data: 102 | t = cls.encode_int16(v) 103 | res.extend(t) 104 | return res 105 | 106 | @classmethod 107 | def decode_int16(cls, data): 108 | return struct.unpack(">h", data)[0] 109 | 110 | @classmethod 111 | def crc16_check(cls, command): 112 | crc = 0xffff 113 | for index in range(len(command)): 114 | crc ^= command[index] 115 | for _ in range(8): 116 | if crc & 1 == 1: 117 | crc >>= 1 118 | crc ^= 0xA001 119 | else: 120 | crc >>= 1 121 | if crc > 0x7FFF: 122 | crc_res = list(struct.pack(">H", crc)) 123 | else: 124 | crc_res = cls.encode_int16(crc) 125 | 126 | for i in range(2): 127 | if isinstance(crc_res[i], str): 128 | crc_res[i] = ord(crc_res[i]) 129 | return crc_res 130 | 131 | @classmethod 132 | def crc16_check_bytes(cls, command): 133 | data = cls.crc16_check(command) 134 | return bytes(bytearray(data)) 135 | 136 | @classmethod 137 | def get_bits(cls, data): 138 | reverse_bins = reversed(bin(data)[2:]) 139 | rank = [i for i, e in enumerate(reverse_bins) if e != '0'] 140 | return rank 141 | -------------------------------------------------------------------------------- /pymycobot/myagvpro_socket.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | # -*- coding: UTF-8 -*- 3 | import socket 4 | from pymycobot.myagvpro import MyAGVProCommandApi 5 | 6 | 7 | def setup_socket_connect(host, port, timeout=0.1): 8 | socket_api = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 9 | socket_api.settimeout(timeout) 10 | socket_api.connect((host, port)) 11 | return socket_api 12 | 13 | 14 | class MyAGVProSocket(MyAGVProCommandApi): 15 | def __init__(self, host, port, debug=False, save_serial_log=False): 16 | super().__init__(debug=debug, save_serial_log=save_serial_log) 17 | self._socket = setup_socket_connect(host=host, port=port) 18 | self._serial_filename = 'agvpro_socket_serial.log' 19 | self._communication_mode = 1 20 | 21 | def __exit__(self, exc_type, exc_val, exc_tb): 22 | self.close() 23 | 24 | def __enter__(self): 25 | return self 26 | 27 | def write(self, command): 28 | return self._socket.send(command) 29 | 30 | def read(self, size=1): 31 | try: 32 | return self._socket.recv(size) 33 | except socket.timeout: 34 | return b'' 35 | 36 | def close(self): 37 | self._socket.close() 38 | 39 | def clear(self): 40 | pass 41 | -------------------------------------------------------------------------------- /pymycobot/myarmc.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | from __future__ import division 4 | from pymycobot.common import ProtocolCode 5 | from pymycobot.myarm_api import MyArmAPI 6 | 7 | 8 | class MyArmC(MyArmAPI): 9 | 10 | def __init__(self, port, baudrate=1000000, timeout=0.1, debug=False): 11 | super(MyArmC, self).__init__(port, baudrate, timeout, debug) 12 | 13 | def is_tool_btn_clicked(self, mode=1): 14 | """get the end button status 15 | Args: 16 | 1: atom 17 | 2: gripper red button 18 | 3: gripper blue button 19 | 254: get all button status 20 | Returns: 21 | list[int]: 0/1, 1: press, 0: no press 22 | """ 23 | if not isinstance(mode, int): 24 | raise TypeError('mode must be int') 25 | 26 | if mode not in [1, 2, 3, 254]: 27 | raise ValueError('mode must be 1, 2, 3 or 254') 28 | 29 | return self._mesg(ProtocolCode.GET_ATOM_PRESS_STATUS, mode, has_reply=True) 30 | 31 | -------------------------------------------------------------------------------- /pymycobot/pro630client.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | import socket 3 | import sys 4 | import time 5 | import traceback 6 | 7 | from pymycobot.pro630 import Pro630Api 8 | from pymycobot.common import ProtocolCode 9 | 10 | SYS_VERSION_INFO = sys.version_info.major 11 | 12 | 13 | def format_hex_log(data): 14 | if SYS_VERSION_INFO == 2: 15 | command_log = "" 16 | for d in data: 17 | command_log += hex(ord(d))[2:] + " " 18 | else: 19 | command_log = "" 20 | for d in data: 21 | command_log += hex(d)[2:] + " " 22 | 23 | return command_log 24 | 25 | 26 | def connect_socket(addr, port): 27 | sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) 28 | sock.connect((addr, port)) 29 | return sock 30 | 31 | 32 | class Pro630Client(Pro630Api): 33 | def __init__(self, host, port=9000, timeout=0.1, debug=False): 34 | """ 35 | Args: 36 | host: host address 37 | port: port number 38 | timeout: socket timeout 39 | debug: debug mode 40 | """ 41 | self.sock = connect_socket(host, port) 42 | self.timeout = timeout 43 | self.host = host 44 | self.port = port 45 | super().__init__(debug=debug, method='socket') 46 | 47 | def close(self): 48 | self.sock.close() 49 | 50 | def read_thread(self, method=None): 51 | self.sock.settimeout(self.timeout) 52 | while True: 53 | try: 54 | data = self.sock.recv(1024) 55 | print(data) 56 | result = self._process_received(data) 57 | command_log = format_hex_log(result) 58 | self.log.debug(f"_read :{command_log}") 59 | if not result: 60 | continue 61 | 62 | with self.lock: 63 | self.read_command.append([result, time.time()]) 64 | except socket.timeout: 65 | print("socket timeout") 66 | time.sleep(0.1) 67 | except Exception as e: 68 | print(e) 69 | traceback.print_exc() 70 | 71 | def set_basic_output(self, pin_no, pin_signal): 72 | """Set basic output.IO low-level output high-level, high-level output high resistance state 73 | 74 | Args: 75 | pin_no: pin port number. range 1 ~ 6 76 | pin_signal: 0 / 1 77 | """ 78 | return self._mesg(ProtocolCode.SET_BASIC_OUTPUT, pin_no, pin_signal) 79 | 80 | def get_basic_input(self, pin_no): 81 | """Get basic input. 82 | 83 | Args: 84 | pin_no: pin port number. range 1 ~ 6 85 | 86 | Return: 87 | 1 - high 88 | 0 - low 89 | """ 90 | return self._mesg(ProtocolCode.GET_BASIC_INPUT, pin_no) 91 | 92 | def send_angles_sync(self, angles, speed): 93 | self.calibration_parameters(class_name = self.__class__.__name__, angles=angles, speed=speed) 94 | angles = [self._angle2int(angle) for angle in angles] 95 | return self._mesg(ProtocolCode.SEND_ANGLES, angles, speed, no_return=True) 96 | 97 | def set_monitor_mode(self, mode): 98 | raise NotImplementedError("Pro630 does not support monitor mode") 99 | 100 | def get_monitor_mode(self): 101 | raise NotImplementedError("Pro630 does not support monitor mode") -------------------------------------------------------------------------------- /pymycobot/progripper.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/pymycobot/progripper.py -------------------------------------------------------------------------------- /pymycobot/public.py: -------------------------------------------------------------------------------- 1 | 2 | 3 | import sys 4 | import logging 5 | import time 6 | 7 | from pymycobot.log import setup_logging 8 | from pymycobot.error import calibration_parameters 9 | from pymycobot.common import ProtocolCode, DataProcessor 10 | 11 | 12 | class PublicCommandGenerator(DataProcessor): 13 | # def __init__(self, debug=False): 14 | # """ 15 | # Args: 16 | # debug : whether show debug info 17 | # """ 18 | # self._version = sys.version_info[:2][0] 19 | # self.debug = debug 20 | # setup_logging(self.debug) 21 | # self.log = logging.getLogger(__name__) 22 | # self.calibration_parameters = calibration_parameters 23 | 24 | # def _mesg(self, genre, *args, **kwargs): 25 | # """ 26 | # Args: 27 | # genre: command type (Command) 28 | # *args: other data. 29 | # It is converted to octal by default. 30 | # If the data needs to be encapsulated into hexadecimal, 31 | # the array is used to include them. (Data cannot be nested) 32 | # **kwargs: support `has_reply` 33 | # has_reply: Whether there is a return value to accept. 34 | # """ 35 | # command_data = self._process_data_command(genre, args) 36 | 37 | # if genre == 178: 38 | # command_data = self._encode_int16(command_data) 39 | 40 | # elif genre in [76, 77]: 41 | # command_data = [command_data[0]] + self._encode_int16(command_data[1]*10) 42 | # elif genre == 115: 43 | # command_data = [command_data[1],command_data[3]] 44 | 45 | # LEN = len(command_data) + 2 46 | # command = [ 47 | # ProtocolCode.HEADER, 48 | # ProtocolCode.HEADER, 49 | # LEN, 50 | # genre, 51 | # command_data, 52 | # ProtocolCode.FOOTER, 53 | # ] 54 | 55 | # real_command = self._flatten(command) 56 | # has_reply = kwargs.get("has_reply", False) 57 | # return real_command, has_reply 58 | pass 59 | -------------------------------------------------------------------------------- /pymycobot/tool_coords.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | import numpy as np 3 | 4 | 5 | def CvtRotationMatrixToEulerAngle(pdtRotationMatrix): 6 | pdtEulerAngle = np.zeros(3) 7 | 8 | pdtEulerAngle[2] = np.arctan2(pdtRotationMatrix[1, 0], pdtRotationMatrix[0, 0]) 9 | 10 | fCosRoll = np.cos(pdtEulerAngle[2]) 11 | fSinRoll = np.sin(pdtEulerAngle[2]) 12 | 13 | pdtEulerAngle[1] = np.arctan2(-pdtRotationMatrix[2, 0], (fCosRoll * pdtRotationMatrix[0, 0]) + (fSinRoll * pdtRotationMatrix[1, 0])) 14 | pdtEulerAngle[0] = np.arctan2((fSinRoll * pdtRotationMatrix[0, 2]) - (fCosRoll * pdtRotationMatrix[1, 2]), (-fSinRoll * pdtRotationMatrix[0, 1]) + (fCosRoll * pdtRotationMatrix[1, 1])) 15 | 16 | return pdtEulerAngle 17 | 18 | def CvtEulerAngleToRotationMatrix(ptrEulerAngle): 19 | ptrSinAngle = np.sin(ptrEulerAngle) 20 | ptrCosAngle = np.cos(ptrEulerAngle) 21 | 22 | ptrRotationMatrix = np.zeros((3, 3)) 23 | ptrRotationMatrix[0, 0] = ptrCosAngle[2] * ptrCosAngle[1] 24 | ptrRotationMatrix[0, 1] = ptrCosAngle[2] * ptrSinAngle[1] * ptrSinAngle[0] - ptrSinAngle[2] * ptrCosAngle[0] 25 | ptrRotationMatrix[0, 2] = ptrCosAngle[2] * ptrSinAngle[1] * ptrCosAngle[0] + ptrSinAngle[2] * ptrSinAngle[0] 26 | ptrRotationMatrix[1, 0] = ptrSinAngle[2] * ptrCosAngle[1] 27 | ptrRotationMatrix[1, 1] = ptrSinAngle[2] * ptrSinAngle[1] * ptrSinAngle[0] + ptrCosAngle[2] * ptrCosAngle[0] 28 | ptrRotationMatrix[1, 2] = ptrSinAngle[2] * ptrSinAngle[1] * ptrCosAngle[0] - ptrCosAngle[2] * ptrSinAngle[0] 29 | ptrRotationMatrix[2, 0] = -ptrSinAngle[1] 30 | ptrRotationMatrix[2, 1] = ptrCosAngle[1] * ptrSinAngle[0] 31 | ptrRotationMatrix[2, 2] = ptrCosAngle[1] * ptrCosAngle[0] 32 | 33 | return ptrRotationMatrix 34 | 35 | def transformation_matrix_from_parameters(rotation_matrix, translation_vector): 36 | """ 37 | Create a 4x4 homogeneous transformation matrix. 38 | 39 | :param rotation_matrix: 3x3 numpy array representing rotation. 40 | :param translation_vector: 1x3 numpy array representing translation. 41 | :return: 4x4 numpy array representing the transformation matrix. 42 | """ 43 | T = np.eye(4) 44 | T[:3, :3] = rotation_matrix 45 | T[:3, 3] = translation_vector 46 | return T 47 | 48 | def get_flange_pose(flange_matrix, tool_pose): 49 | """ 50 | Convert the pose from flange coordinate system to tool coordinate system. 51 | 52 | :param flange_to_tool_matrix: 4x4 numpy array, transformation matrix from flange to tool. 53 | :param flange_pose: 4x4 numpy array, pose in flange coordinate system. 54 | :return: 4x4 numpy array, pose in tool coordinate system. 55 | """ 56 | return np.dot(flange_matrix, np.linalg.inv(tool_pose)) 57 | 58 | def get_tool_pose(flange_matrix, tool_pose): 59 | """ 60 | Convert the pose from tool coordinate system to flange coordinate system. 61 | 62 | :param flange_to_tool_matrix: 4x4 numpy array, transformation matrix from flange to tool. 63 | :param tool_pose: 4x4 numpy array, pose in tool coordinate system. 64 | :return: 4x4 numpy array, pose in flange coordinate system. 65 | """ 66 | return np.dot(flange_matrix, tool_pose) 67 | 68 | 69 | def flangeToTool(current_coords, tool_matrix): 70 | # Example pose in flange coordinate system 71 | flange_pose = np.eye(4) 72 | flange_pose[:3, :3] = CvtEulerAngleToRotationMatrix(current_coords[3:6] * np.pi/180.0) 73 | flange_pose[:3, 3] = current_coords[:3] # Example translation 74 | 75 | # Switch to tool coordinate system 76 | tool_pose = get_tool_pose(flange_pose, tool_matrix) 77 | tool_coords = np.concatenate((tool_pose[:3,3].T, CvtRotationMatrixToEulerAngle(tool_pose[:3,:3]) * 180/np.pi)) 78 | 79 | return tool_coords 80 | 81 | def toolToflange(tool_coords, tool_matrix): 82 | 83 | # Example pose in tool coordinate system 84 | tool_pose = np.eye(4) 85 | tool_pose[:3, :3] = CvtEulerAngleToRotationMatrix(tool_coords[3:6] * np.pi/180.0) 86 | tool_pose[:3, 3] = tool_coords[:3] # Example translation 87 | 88 | # Switch to tool coordinate system 89 | flange_pose = get_flange_pose(tool_pose, tool_matrix) 90 | 91 | flange_coords = np.concatenate((flange_pose[:3,3].T, CvtRotationMatrixToEulerAngle(flange_pose[:3,:3]) * 180/np.pi )) 92 | return flange_coords -------------------------------------------------------------------------------- /pymycobot/utils.py: -------------------------------------------------------------------------------- 1 | # coding=utf-8 2 | 3 | from __future__ import print_function 4 | 5 | try: 6 | from serial.tools.list_ports import comports 7 | except ImportError: 8 | print("Not found module `pyserial`, please install.") 9 | 10 | 11 | def get_port_list(): 12 | # type:() -> list 13 | """Get all the serial port string. 14 | 15 | Return: 16 | serial port list(list) 17 | """ 18 | return [p.device for p in comports()] 19 | 20 | 21 | def detect_port_of_basic(): 22 | """Detect M5 Basic. 23 | Returns the serial port string of the first detected M5 Basic. 24 | If it is not found, it returns `None`. 25 | """ 26 | ports = [p.device for p in comports() if p.pid == 0xEA60] 27 | return ports[0] if len(ports) > 0 else None 28 | -------------------------------------------------------------------------------- /requirements.txt: -------------------------------------------------------------------------------- 1 | pyserial 2 | python-can 3 | pytest 4 | flake8 5 | opencv-python 6 | numpy 7 | crc 8 | bleak~=0.22.3 -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | # encoding=utf-8 2 | from __future__ import print_function 3 | import sys 4 | 5 | PYTHON_VERSION = sys.version_info[:2] 6 | if (2, 7) != PYTHON_VERSION < (3, 5): 7 | print("This mycobot version requires Python2.7, 3.5 or later.") 8 | sys.exit(1) 9 | 10 | import setuptools 11 | import textwrap 12 | import pymycobot 13 | 14 | try: 15 | long_description = ( 16 | open("README.md", encoding="utf-8").read() 17 | + open("docs/README.md", encoding="utf-8").read() 18 | ) 19 | except: 20 | long_description = textwrap.dedent( 21 | """\ 22 | # This is Python API for myCobot 23 | 24 | This is a python API for serial communication with mycobot and controlling it. 25 | 26 | [![home](./f3-min2.jpg)](https://www.elephantrobotics.com/en/myCobot-en/) 27 | 28 | ## Installation 29 | 30 | **Notes**: 31 | 32 | > Make sure that `Atom` is flashed into the top Atom, `Transponder` is flashed into the base Basic.
33 | > The firmware `Atom` and `Transponder` download address: [https://github.com/elephantrobotics/myCobot/tree/main/Software](https://github.com/elephantrobotics/myCobot/tree/main/Software)
34 | > You also can use myStudio to flash them, myStudio address: [https://github.com/elephantrobotics/myStudio/releases](https://github.com/elephantrobotics/myStudio/releases) 35 | 36 | ### Pip 37 | 38 | ```bash 39 | pip install pymycobot --upgrade 40 | ``` 41 | 42 | ### Source code 43 | 44 | ```bash 45 | git clone https://github.com/elephantrobotics/pymycobot.git 46 | cd /pymycobot 47 | # Install 48 | [sudo] python2 setup.py install 49 | # or 50 | [sudo] python3 setup.py install 51 | ``` 52 | 53 | ## Usage: 54 | 55 | ```python 56 | from pymycobot import MyCobot, Angle, Coord 57 | from pymycobot import PI_PORT, PI_BAUD # For raspberry pi version of mycobot. 58 | ``` 59 | 60 | The [`demo`](./demo) directory stores some test case files. 61 | 62 | You can find out which interfaces pymycobot provides in `pymycobot/README.md`. 63 | 64 | Please go to [here](./docs/README.md). 65 | """ 66 | ) 67 | 68 | setuptools.setup( 69 | name="pymycobot", 70 | version=pymycobot.__version__, 71 | author=pymycobot.__author__, 72 | author_email=pymycobot.__email__, 73 | description="Python API for serial communication of MyCobot.", 74 | long_description=long_description, 75 | long_description_content_type="text/markdown", 76 | url=pymycobot.__git_url__, 77 | packages=setuptools.find_packages(), 78 | include_package_data=True, # Include non-Python files, like JSON files 79 | package_data={"pymycobot": ["*.json"]}, # Specify the JSON file(s) to include 80 | classifiers=[ 81 | "Programming Language :: Python :: 2.7", 82 | "Programming Language :: Python :: 3.5", 83 | "Programming Language :: Python :: 3.6", 84 | "Programming Language :: Python :: 3.7", 85 | "Programming Language :: Python :: 3.8", 86 | "Programming Language :: Python :: 3.9", 87 | "Programming Language :: Python :: 3.10", 88 | "License :: OSI Approved :: MIT License", 89 | "Operating System :: OS Independent", 90 | ], 91 | install_requires=["pyserial"], 92 | python_requires=">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, != 3.4.*", 93 | ) 94 | -------------------------------------------------------------------------------- /tests/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/tests/__init__.py -------------------------------------------------------------------------------- /tests/conftest.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/elephantrobotics/pymycobot/57d38b6c080c7b231707b9be01030ecd015b2537/tests/conftest.py -------------------------------------------------------------------------------- /tests/special_angles.py: -------------------------------------------------------------------------------- 1 | import time 2 | import os 3 | from pymycobot.mycobot import MyCobot 4 | 5 | 6 | def test(mc): 7 | special_angles = [ 8 | [0, 90, 0, 0, 90, 0], 9 | [0, 0, -90, 0, -90, 0], 10 | [0, 90, 0, -90, -90, 0], 11 | [0, -90, 90, -90, -90, 0], 12 | ] 13 | 14 | for angles in special_angles: 15 | mc.send_angles(angles, 80) 16 | time.sleep(4) 17 | coords = mc.get_coords() 18 | time.sleep(0.1) 19 | print(coords) 20 | 21 | 22 | """ 23 | [-278.1, -16.8, 104.2, 79.82, -81.6, -169.53] 24 | [-279.2, -15.2, 117.5, 34.72, -85.83, -124.83] 25 | [171.6, -113.1, 229.8, 114.15, -84.21, -24.27] 26 | [-211.5, -113.8, 188.5, -89.79, 6.14, -177.87] 27 | [190.8, -113.1, 210.7, 104.26, -82.19, -14.39] 28 | """ 29 | 30 | if __name__ == "__main__": 31 | time.sleep(1) 32 | with open(os.path.dirname(__file__) + "/port.txt") as f: 33 | port = f.read().strip().replace("\n", "") 34 | print(port) 35 | mc = MyCobot(port, boudrate="1000000") 36 | # test(mc) 37 | # coords = [-279.2, -15.2, 117.5, 34.72, -85.83, -124.83] 38 | # mc.send_coords(coords, 80, 1) 39 | # exit(0) 40 | while True: 41 | print(mc.get_coords()) 42 | time.sleep(1) 43 | -------------------------------------------------------------------------------- /tests/test_generator.py: -------------------------------------------------------------------------------- 1 | import os 2 | import sys 3 | import pytest 4 | from pprint import pprint 5 | 6 | # Add relevant ranger module to PATH... there surely is a better way to do this... 7 | sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) 8 | 9 | from pymycobot import MyCobotCommandGenerator 10 | 11 | 12 | @pytest.fixture(scope="module") 13 | def mcg(): 14 | print("") 15 | DEBUG = False 16 | mg = MyCobotCommandGenerator(debug=DEBUG) 17 | print("") 18 | return mg 19 | 20 | def test_flatten1(mcg): 21 | assert mcg._flatten([1,2,3,4,5,6]) == [1,2,3,4,5,6] 22 | 23 | def test_flatten2(mcg): 24 | assert mcg._flatten([1,2,3,4,[],5]) == [1,2,3,4,5] 25 | 26 | def test_flatten3(mcg): 27 | assert mcg._flatten([1,2,3,4,[5,6],7]) == [1,2,3,4,5,6,7] 28 | 29 | def test_encode_int16(mcg): 30 | assert mcg._encode_int16([0, 1]) == sum([mcg._encode_int16(0), mcg._encode_int16(1)], []) 31 | 32 | def test_process_data_command1(mcg): 33 | assert mcg._process_data_command(()) == [] 34 | 35 | def test_process_data_command2(mcg): 36 | assert mcg._process_data_command((1, 2, 3)) == [1, 2, 3] 37 | 38 | def test_process_data_command3(mcg): 39 | assert mcg._process_data_command((1, 2, [1, 2])) == mcg._flatten([1, 2, mcg._encode_int16([1, 2])]) 40 | 41 | def test_version(mcg): 42 | assert mcg.version() == ([0xFE, 0xFE, 2, 0x00, 0xFA], True) 43 | 44 | def test_power_on(mcg): 45 | assert mcg.power_on() == ([0xFE, 0xFE, 2, 0x10, 0xFA], False) 46 | 47 | def test_power_off(mcg): 48 | assert mcg.power_off() == ([0xFE, 0xFE, 2, 0x11, 0xFA], False) 49 | 50 | def test_release_all_servos(mcg): 51 | assert mcg.release_all_servos() == ([0xFE, 0xFE, 2, 0x13, 0xFA], False) 52 | 53 | def test_is_controller_connected(mcg): 54 | assert mcg.is_controller_connected() == ([0xFE, 0xFE, 2, 0x14, 0xFA], True) 55 | 56 | def test_get_angles(mcg): 57 | assert mcg.get_angles() == ([0xFE, 0xFE, 2, 0x20, 0xFA], True) 58 | 59 | def test_get_coords(mcg): 60 | assert mcg.get_coords() == ([0xFE, 0xFE, 2, 0x23, 0xFA], True) 61 | 62 | def test_is_in_position(mcg): 63 | assert mcg.is_in_position([0, 0, 0, 0, 0, 0], 0) == (mcg._flatten([0xFE, 0xFE, 15, 0x2A, mcg._flatten([mcg._encode_int16([0, 0, 0, 0, 0, 0]), 0]), 0xFA]), True) 64 | 65 | def test_pause(mcg): 66 | assert mcg.pause() == ([0xFE, 0xFE, 2, 0x26, 0xFA], False) 67 | 68 | def test_resume(mcg): 69 | assert mcg.resume() == ([0xFE, 0xFE, 2, 0x28, 0xFA], False) 70 | 71 | def test_stop(mcg): 72 | assert mcg.stop() == ([0xFE, 0xFE, 2, 0x29, 0xFA], False) 73 | 74 | def test_set_pin_mode(mcg): 75 | assert mcg.set_pin_mode(1, 0) == ([0xFE, 0xFE, 4, 0x60, 1, 0, 0xFA], False) 76 | 77 | def test_set_digital_output(mcg): 78 | assert mcg.set_digital_output(0, 1) == ([0xFE, 0xFE, 4, 0x61, 0, 1, 0xFA], False) 79 | -------------------------------------------------------------------------------- /tests/test_socket.py: -------------------------------------------------------------------------------- 1 | from pymycobot import MyCobotSocket 2 | 3 | mc = MyCobotSocket("192.168.10.10", "9000") 4 | 5 | print(mc.get_angles()) 6 | # mc.power_on() 7 | # mc.power_off() 8 | # mc.sync_send_angles([-0.08, 71.27, -116.27, 19.77, 7.55, -1.23], 20) 9 | # mc.sync_send_angles([-1.05, -7.29, 1.4, -49.39, 7.55, -1.23], 20) 10 | # print(mc.is_controller_connected()) 11 | # print(mc.release_all_servos()) 12 | # print(mc.get_angles()) 13 | # mc.send_angle(1, 100, 20) 14 | # print(mc.get_coords()) 15 | # mc.send_coords([180.4, -55.1, 210.1, -172.81, 7.32, -86.97], 20, 1) 16 | # print(mc.jog_angle(1, 1, 20)) 17 | -------------------------------------------------------------------------------- /tests/test_utils.py: -------------------------------------------------------------------------------- 1 | import os 2 | import sys 3 | 4 | # Add relevant ranger module to PATH... there surely is a better way to do this... 5 | sys.path.insert(0, os.path.join(os.path.dirname(__file__), "..")) 6 | 7 | from pymycobot import utils 8 | 9 | port = utils.get_port_list() 10 | print(port) 11 | 12 | detect_result = utils.detect_port_of_basic() 13 | print(detect_result) 14 | --------------------------------------------------------------------------------