mycobot 280 pi / python

atom 이랑 팔에 힘빼는거(!) 테스트

 

from pymycobot.mycobot import MyCobot from pymycobot import PI_PORT, PI_BAUD mc = MyCobot(PI_PORT, PI_BAUD) mc.set_color(0,0,255) mc.get_digital_input(39) # atom 누르지 않고 1 mc.get_digital_input(39) # atom 누르고 0 mc.power_off() # atom off mc.get_digital_input(39) # atom 안 읽힘 mc.get_digital_input(39) mc.power_on() # atom on mc.get_digital_input(39) # atom 누르지 않고 1 mc.get_digital_input(39) # atom 누르고 0 mc.is_power_on() 1 mc.power_off() mc.is_power_on() 0 mc.power_on() mc.power_off() mc.is_all_servo_enable() mc.power_on() mc.is_all_servo_enable()

 

power_on 은 atom(LED, 버튼 일체형) 통신 뿐만 아니라

servo 전원 on/off도 같이 엮인다.

1.1 power_on()     Function: Atom open communication (default open) 1.2 power_off()     Function: Atom turn off communication 1.3 is_power_on() Function: judge whether robot arms is powered on or not

 

서보(관절별) 잠그고, 푸는 명령

2.11 release_servo(servo_id) Function: release a servo 5.4 focus_servo(servo_id)    Function: power on designated servo

 

gpt 보고 짜달라니 잘 짜준다

#!/usr/bin/env python3 import curses import time from pymycobot.mycobot import MyCobot from pymycobot import PI_PORT, PI_BAUD # ------------------------------------------------- # myCobot # ------------------------------------------------- mc = MyCobot(PI_PORT, PI_BAUD) SPEED = 40 STEP = 2.0        # mm ROT_STEP = 2.0    # degree released = True mc.power_on() time.sleep(1) coords = mc.get_coords() if coords is None:     print("Cannot read robot coordinates.")     exit(1) # ------------------------------------------------- def draw_screen(stdscr, angles):     stdscr.clear()     stdscr.addstr(0, 0, "myCobot 280 Jog Controller")     stdscr.addstr(2, 0, "A/D : X -/+")     stdscr.addstr(3, 0, "W/S : Y +/-")     stdscr.addstr(4, 0, "R/F : Z +/-")     stdscr.addstr(5, 0, "Q/E : RX -/+")     stdscr.addstr(6, 0, "ESC : Exit")     stdscr.addstr(8, 0, f"Servo : {'LOCK' if released else 'RELEASE'}")     stdscr.addstr(         10, 0,         f"X={coords[0]:7.2f}  "         f"Y={coords[1]:7.2f}  "         f"Z={coords[2]:7.2f}"     )     stdscr.addstr(         11, 0,         f"RX={coords[3]:7.2f}  "         f"RY={coords[4]:7.2f}  "         f"RZ={coords[5]:7.2f}"     )     if angles is not None:         stdscr.addstr(13, 0, "Joint Angles")         for i, a in enumerate(angles):             stdscr.addstr(14+i, 0, f"J{i+1}: {a:7.2f}")     stdscr.refresh() # ------------------------------------------------- def main(stdscr):     global coords     global released     curses.cbreak()     curses.noecho()     stdscr.nodelay(True)     stdscr.keypad(True)     angles = mc.get_angles()     draw_screen(stdscr, angles)     while True:         # ------------------------------------------         # Atom Button         # ------------------------------------------         button = mc.get_digital_input(39)         if button == 0 and released:             released = False             mc.release_all_servos()             draw_screen(stdscr, angles)         elif button == 1 and not released:             released = True             mc.power_on()             time.sleep(0.5)             # Servo를 손으로 움직였을 수 있으므로             # 이때만 실제 좌표를 다시 읽음             new_coords = mc.get_coords()             if new_coords is not None:                 coords = new_coords             angles = mc.get_angles()             draw_screen(stdscr, angles)         key = stdscr.getch()         if key == 27:             break         moved = False         if released:             if key == ord('a'):                 coords[0] -= STEP                 moved = True             elif key == ord('d'):                 coords[0] += STEP                 moved = True             elif key == ord('w'):                 coords[1] += STEP                 moved = True             elif key == ord('s'):                 coords[1] -= STEP                 moved = True             elif key == ord('r'):                 coords[2] += STEP                 moved = True             elif key == ord('f'):                 coords[2] -= STEP                 moved = True             elif key == ord('q'):                 coords[3] -= ROT_STEP                 moved = True             elif key == ord('e'):                 coords[3] += ROT_STEP                 moved = True             if moved:                 mc.send_coords(coords, SPEED, 1)                 draw_screen(stdscr, angles)         time.sleep(0.02) # ------------------------------------------------- if __name__ == "__main__":     curses.wrapper(main)

 

[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/7.2_API.html]