stash

Massage/MassageControl/MassageRobot_nova5.py

@@ -1591,7 +1591,7 @@ if __name__ == "__main__":
     # ] ## 单位 m deg
     # myInterpolate = TrajectoryInterpolator(waypoints)
     # ts = np.linspace(0,5,100)
-    robot = MassageRobot(arm_config_path="/home/jsfb/jsfb/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml")
+    robot = MassageRobot(arm_config_path="/home/jsfb/jsfb_ws/MassageRobot_Dobot/Massage/MassageControl/config/robot_config.yaml")
     # xr_list, vr_list, ar_list = [], [], []
     # for t in ts:
     #     xr, vr, ar = myInterpolate.interpolate(t)  

Massage/MassageControl/hardware/dobot_nova5.py

@@ -119,7 +119,9 @@ class dobot_nova5:
         self.dashboard.EmergencyStop(mode=0) # 松开急停
         self.clearError() # 清除报警
         # 关闭碰撞检测
-        self.dashboard.SetCollisionLevel(level=0)
+        self.dashboard.SetCollisionLevel(level=1)
+        # lower the velocity
+        self.dashboard.SpeedFactor(50)
         if self.parseResultId(self.dashboard.EnableRobot())[0] != 0:
             print("使能失败:检查29999端口是否被占用")
             return
@@ -871,8 +873,8 @@ if __name__ == "__main__":
     dobot = dobot_nova5("192.168.5.1")
     dobot.start()
     # posJ_home = [-45,87,-147,0,90,-90]
-    posJ_ready = [-45,55.5785,-120.6882,5.111,90,-90] 
-    dobot.RunPoint_P_inJoint(posJ_ready)
+    # posJ_ready = [-45,55.5785,-120.6882,5.111,90,-90] 
+    # dobot.RunPoint_P_inJoint(posJ_ready)
     
     # # sleep(1)
     dobot.chooseRightFrame()

Massage/MassageControl/hardware/force_sensor.py

@@ -16,7 +16,8 @@ sys.path.append(os.path.abspath(os.path.join(os.getcwd(), "Massage/MassageContro
 
 class XjcSensor:
     def __init__(self, port=None, baudrate=115200, rate=250):
-        self.port = '/dev/ttyUSB0'
+        # self.port = '/dev/ttyUSB0'
+        self.port = '/dev/ttyS0'
         self.baudrate = baudrate
         self.rate = rate