DevelopmentTeam/MassageRobot_Dobot
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This commit is contained in:
Ziwei.He 2025-05-29 22:45:43 +08:00
parent 7962530e43
commit 7a59ee5693
1 changed files with 17 additions and 15 deletions
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32
Massage/MassageControl/hardware/dobot_nova5.py
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@ -89,6 +89,7 @@ class dobot_nova5:
self.feedback_thread.daemon = True
self.feedback_thread.start()
time.sleep(1)
self.dashboard.RequestControl()
max_retry_num = 5 #尝试连接次数
cnt_num = 0
while cnt_num < max_retry_num:
@ -97,11 +98,12 @@ class dobot_nova5:
self.clearError() # 清除报警
# stopId = self.dashboard.Stop()
time.sleep(0.5)
print("self.self.feedbackData.robotMode:",self.feedbackData.robotMode)
if (self.feedbackData.robotMode == 3 or self.feedbackData.robotMode == 4): #and self.parseResultId(stopId)[0] == 0:
self.dashboard.RequestControl()
# self.dashboard.RequestControl()
if self.feedbackData.robotMode == 3:
self.dashboard.PowerOn() # 复位
self.dashboard.Stop() # 停止
# self.dashboard.Stop() # 停止
if self.start_up(): # 启动
self.logger.log_info(f"连接机械臂成功")
break
@ -187,19 +189,19 @@ class dobot_nova5:
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)
self.logger.log_info("关闭碰撞检测成功")
code = self.parseResultId(self.dashboard.EnableRobot())[0]
if code == 0:
while 1:
if self.feedbackData.robotMode in [3, 6, 7, 8, 9, 10, 11]:
self.logger.log_error(f"使能失败，机械臂异常:{self.feedbackData.robotMode}")
return False
elif self.feedbackData.robotMode == 5:
self.logger.log_info("机械臂使能成功")
return True
time.sleep(0.1)
# if self.parseResultId(self.dashboard.SetCollisionLevel(level=0))[0] == 0:
time.sleep(0.1)
self.logger.log_info("关闭碰撞检测成功")
code = self.parseResultId(self.dashboard.EnableRobot())[0]
if code == 0:
while 1:
if self.feedbackData.robotMode in [3, 6, 7, 8, 9, 10, 11]:
self.logger.log_error(f"使能失败，机械臂异常:{self.feedbackData.robotMode}")
return False
elif self.feedbackData.robotMode == 5:
self.logger.log_info("机械臂使能成功")
return True
time.sleep(0.1)
# def disable_servo(self):
# pass