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ServoJ伺服接口改进完成

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Ziwei.He 2025-05-12 09:49:26 +08:00
parent 286b606f5a
commit 54a6733861
2 changed files with 18 additions and 26 deletions
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Massage/MassageControl/hardware/__pycache__/dobot_api.cpython-39.pyc
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Massage/MassageControl/hardware/dobot_nova5.py
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@ -164,28 +164,20 @@ class dobot_nova5:
break
sleep(0.1)
def ServoJoint(self,joints_list,t=-1,aheadtime=-1,gain=-1):
# 关节空间伺服
recvmovemess = self.dashboard.ServoJ(*joints_list,t,aheadtime,gain)
print("ServoJ:",recvmovemess)
print(self.parseResultId(recvmovemess))
currentCommandID = self.parseResultId(recvmovemess)[1]
print("指令 ID", currentCommandID)
while True:
currentCommandID = self.parseResultId(self.dashboard.GetCurrentCommandID())[1]
if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11:
self.dashboard.Stop()
self.dashboard.EmergencyStop()
print("当前工作停止，机械臂处于急停状态")
if self.feedbackData.robotMode == 10: # 10 当前工程暂停
print("机械臂为暂停状态")
res = self.dashboard.Continue()
code = int(res[0])
if code == 0:
print("机械臂继续已暂停的运动指令")
if self.feedbackData.robotMode == 5 and self.feedbackData.robotCurrentCommandID == currentCommandID:
print("完成一次伺服动作")
break
def ServoJoint(self,joints_list):
tcp_command = f"servoj({joints_list[0]},{joints_list[1]},{joints_list[2]},{joints_list[3]},{joints_list[4]},{joints_list[5]},t=0.008,aheadtime=20,gain=200)"
self.dashboard.sendRecvMsg(tcp_command)
print("ServoJ:",tcp_command)
if self.feedbackData.robotMode == 9 or self.feedbackData.robotMode == 11:
self.dashboard.Stop()
self.dashboard.EmergencyStop()
print("当前工作停止，机械臂处于急停状态")
if self.feedbackData.robotMode == 10: # 10 当前工程暂停
print("机械臂为暂停状态")
res = self.dashboard.Continue()
code = int(res[0])
if code == 0:
print("机械臂继续已暂停的运动指令")
def ServoPose(self,poses_list,t=-1,aheadtime=-1,gain=-1):
@ -405,9 +397,9 @@ if __name__ == "__main__":
dobot.RunPoint_P_inJoint(posJ)
sleep(1)
# for i in range(200):
# posJ[2] += 0.04
# dobot.ServoJoint(joints_list=posJ,t=0.008,aheadtime=20,gain=200)
# sleep(0.008)
for i in range(400):
posJ[2] += 0.04
dobot.ServoJoint(posJ)
sleep(0.007)
dobot.disableRobot()