DevelopmentTeam/MassageRobot_Dobot
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This commit is contained in:
Ziwei.He 2025-05-29 22:31:54 +08:00
parent 8477c29c5b
commit 7962530e43
2 changed files with 8 additions and 6 deletions
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2
Massage/MassageControl/MassageRobot_nova5.py
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@ -114,7 +114,7 @@ class MassageRobot:
self.arm_config = read_yaml(arm_config_path)
# arm 实例化时机械臂类内部进行通讯连接
self.arm = dobot_nova5(arm_ip = self.arm_config['arm_ip'])
self.arm.start()
# self.arm.start()
self.arm.init()
self.thermotherapy = None

12
Massage/MassageControl/hardware/dobot_nova5.py
View File

@ -76,7 +76,7 @@ class dobot_nova5:
self.ToolValue = -1
'''
self.feedbackData = feedbackItem() # 自定义反馈数据结构体
self.logger = CustomLogger('Dobot_nova5',True)
self.logger = CustomLogger('Dobot_nova5')
self.dashboard = DobotApiDashboard(self.ip,self.dashboardPort)
self.feedFour = DobotApiFeedBack(self.ip,self.feedFourPort)
@ -95,9 +95,9 @@ class dobot_nova5:
if self.feedbackData.robotMode != -1:
self.dashboard.EmergencyStop(mode=0) # 松开急停
self.clearError() # 清除报警
stopId = self.dashboard.Stop()
# stopId = self.dashboard.Stop()
time.sleep(0.5)
if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4) and self.parseResultId(stopId)[0] == 0:
if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
self.dashboard.RequestControl()
if self.feedbackData.robotMode == 3:
self.dashboard.PowerOn() # 复位
@ -110,7 +110,7 @@ class dobot_nova5:
cnt_num += 1
time.sleep(1)
else:
if self.feedbackData.robotMode == 9 and self.parseResultId(stopId)[0] == -3:
if self.feedbackData.robotMode == 9:# and self.parseResultId(stopId)[0] == -3:
print(robot_mode_types.get(self.feedbackData.robotMode, "未知模式"))
requests.post(
@ -126,6 +126,7 @@ class dobot_nova5:
sys.exit(0)
self.disableRobot()
self.clearError() # 清除报警
cnt_num += 1
time.sleep(1)
else:
@ -136,7 +137,7 @@ class dobot_nova5:
def exit_task(self):
self.logger.log_yellow("退出任务")
self.disable_servo()
# self.disable()
instruction = {
"is_massaging": False,
"massage_service_started": False
@ -184,6 +185,7 @@ class dobot_nova5:
max_try = 3 # 尝试次数
cnt = 0 # 尝试次数计数
while cnt < max_try:
cnt += 1
# 关闭碰撞检测
if self.parseResultId(self.dashboard.SetCollisionLevel(level=0))[0] == 0:
time.sleep(0.1)