diff --git a/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 b/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 index c4bf513..9cd3e00 100644 --- a/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 +++ b/Language/Hotword_awaker/c19f02c7cf55de4ddc7a1220817d7c0cdbb1fd90 @@ -1,5 +1,5 @@ { "device": "9d9bcb0f1803eef39e19b2a8629669447e3c7811bcf2d53009277d476011e497795ef500262b8f4791ab393c87f57a62238d7d95e48ad3ca8638655f9b1c2accf40efa9155719c04f57dfc5f4b39ef6d", "extension": "647b0a09226c6576656c223a092232222c0a0922696e646578223a09226538363761383866323b222c0a092261757468696e666f223a09223538303836343731333362396361383262383565653662623631393234343438220a7d", - "license": 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+ "license": 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} \ No newline at end of file diff --git a/Language/audio.wav b/Language/audio.wav index 1dcb2e1..c29b6d6 100644 Binary files a/Language/audio.wav and b/Language/audio.wav differ diff --git a/Massage/Massage.py b/Massage/Massage.py index 43ed770..318abbc 100755 --- a/Massage/Massage.py +++ b/Massage/Massage.py @@ -2209,7 +2209,7 @@ class Thermotherapy_Task(TaskBase): self.resources.logger.log_info("Executing Thermotherapy_Task") self.move_to_startpos() self.resources.logger.log_info('启动热疗按摩') - self.resources.robot.thermotherapy.set_working_status(cur_level=self.resources.gear, heat_level=self.resources.temperature, vib_level=self.resources.shake) + # self.resources.robot.thermotherapy.set_working_status(cur_level=self.resources.gear, heat_level=self.resources.temperature, vib_level=self.resources.shake) self.tasks_queue_execution() # 按照任务队列执行任务 return "stop" diff --git a/Massage/MassageControl/MassageRobot_nova5.py b/Massage/MassageControl/MassageRobot_nova5.py index 0d98f96..77c7a12 100644 --- a/Massage/MassageControl/MassageRobot_nova5.py +++ b/Massage/MassageControl/MassageRobot_nova5.py @@ -198,8 +198,8 @@ class MassageRobot: self.ion = None self.force_plan = ForcePlanner() # 传感器 - # self.force_sensor = None - self.force_sensor = XjcSensor() + self.force_sensor = None + # self.force_sensor = XjcSensor() # self.force_sensor.connect() # 控制器,初始为导纳控制 self.controller_manager = ControllerManager(self.arm_state) @@ -422,6 +422,7 @@ class MassageRobot: return 0 #读取成功并置零成功 def sensor_enable(self): + print("^^^^^^^^^^^^^^^^^^^^^^^^^") code = self.force_sensor.enable_active_transmission() max_try = 3 while code!= 0 and max_try > 0: @@ -439,49 +440,59 @@ class MassageRobot: ) # sys.exit(0) return -1 + print("^^^^^^^^^^^^^^^^^^^^^^^^^") return 0 def update_wrench(self): # 当前的机械臂到末端转换 (实时) + # print("com111111") b_rotation_s = R.from_quat(self.arm_state.arm_orientation).as_matrix() # 读取数据 + # print("com2222222222") sensor_data = self.force_sensor.read() + # print("com3333") # self.logger.log_info(f"传感器数据{sensor_data}") if sensor_data is None: self.force_sensor.stop_background_reading() self.logger.log_error("传感器数据读取失败") return -1 + # print("com44444444444444444444444444444444444444444") # 反重力补偿 sensor_data[:3] = sensor_data[:3] + self.force_zero + self.b_rotation_s_set0.T @ self.gravity_base sensor_data[3:] = sensor_data[3:] + self.torque_zero + np.cross(self.mass_center_position, self.b_rotation_s_set0.T @ self.gravity_base) # 传感器数据通过矫正计算得到外来施加力 传感器坐标系下 # 重力 + # print("com5555555") gravity_in_sensor = b_rotation_s.T @ self.gravity_base s_force = sensor_data[:3] - self.force_zero - gravity_in_sensor # 力矩 s_torque = sensor_data[3:] - self.torque_zero - np.cross(self.mass_center_position,gravity_in_sensor) wrench = np.concatenate([s_force,s_torque]) + # print("com66666") # 传感器到TCP wrench = self.wrench_coordinate_conversion(self.s_tf_matrix_t,wrench) # 交给ARM STATE集中管理 self.arm_state.external_wrench_tcp = wrench + # print("com777777777777777777") # 对tcp坐标系下的外力外矩进行平滑 x_tcp_predict, P_tcp_predict = self.kalman_predict(x = self.x_tcp, P = self.P_tcp, Q = self.Q_tcp) + # print("com88888888888888888888") self.x_tcp, self.P_tcp = self.kalman_update(x_predict = x_tcp_predict, P_predict = P_tcp_predict, z = self.arm_state.external_wrench_tcp, R = self.R_tcp) + # print("com999999999999") self.arm_state.external_wrench_tcp = self.x_tcp self.arm_state.last_external_wrench_tcp = self.arm_state.external_wrench_tcp + # print("update data wrench :", self.arm_state.external_wrench_tcp) return 0 def switch_payload(self,name): if name in self.playload_dict: - self.stop() self.current_head = name self.logger.log_blue(f"Into switch_payload,change to{name}") @@ -665,10 +676,11 @@ class MassageRobot: if self.arm.is_exit or self.exit_event.is_set(): break try: - self.arm.dashboard.socket_dobot.sendall(tcp_command) + # self.arm.dashboard.socket_dobot.sendall(tcp_command) + self.arm.dashboard.ServoPos(pose_processed[0],pose_processed[1],pose_processed[2],pose_processed[3],pose_processed[4],pose_processed[5],t=0.02, aheadtime=20,gain=200) recv_start_time = time.time() - self.arm.dashboard.socket_dobot.recv(1024) - recv_time = time.time() - recv_start_time + # self.arm.dashboard.socket_dobot.recv(1024) + # recv_time = time.time() - recv_start_time break except Exception as e: print(f"发送指令错误：{e}") @@ -762,14 +774,14 @@ class MassageRobot: self.interrupt_event.clear() self.arm_control_thread.join() self.arm_measure_thread.join() + for i in range(3): + self.force_sensor.disable_active_transmission() + self.force_sensor.start_background_reading() # clear_time = time.time() # self.clear_socket_buffer(self.arm.dashboard.socket_dobot) # print(f"==={time.time()-clear_time}===") def stop(self): - for i in range(3): - self.force_sensor.disable_active_transmission() - self.force_sensor.start_background_reading() self.arm.stop_motion() self.logger.log_info("MassageRobot停止") diff --git a/Massage/MassageControl/hardware/dobot_api.py b/Massage/MassageControl/hardware/dobot_api.py index 90d2494..16a2fe2 100644 --- a/Massage/MassageControl/hardware/dobot_api.py +++ b/Massage/MassageControl/hardware/dobot_api.py @@ -242,12 +242,19 @@ class DobotApi: with self.__globalLock: self.send_data(string) send_time = time.time() - print(f"send_data:{string}") + # print(f"send_data:{string}") recvData = self.wait_reply() print(f"===={time.time()-send_time}s====recvData:{string}") if not self.ParseResultId(recvData): return None return recvData + + def sendMsg(self, string): + """ + send Sync + """ + self.send_data(string) + def __del__(self): self.close() @@ -2063,6 +2070,38 @@ class DobotApiDashboard(DobotApi): string = string + ','+ii string = string + ')' return self.sendRecvMsg(string) + + def ServoPos(self, X, Y, Z, RX, RY, RZ, t=-1.0,aheadtime=-1.0, gain=-1.0): + """ + 参数名 类型 含义 是否必填 参数范围 + X double X 轴位置，单位：毫米 是 + Y double Y 轴位置，单位：毫米 是 + Z double Z 轴位置，单位：毫米 是 + Rx double Rx 轴位置，单位：度 是 + Ry double Ry 轴位置，单位：度 是 + Rz double Rz 轴位置，单位：度 是 + t float 该点位的运行时间，默认0.1,单位：s 否 [0.004,3600.0] + aheadtime float 作用类似于PID的D项，默认50，标量，无单位 否 [20.0,100.0] + gain float 目标位置的比例放大器，作用类似于PID的P项，默认500，标量，无单位 否 [200.0,1000.0] + Pose string Target point posture variables. The reference coordinate system is the global user and tool coordinate system, see the User and Tool command descriptions in Settings command (the default values are both 0 + t float Optional parameter.Running time of the point, unit: s, value range: [0.02,3600.0], default value:0.1 + aheadtime float Optional parameter.Advanced time, similar to the D in PID control. Scalar, no unit, valuerange: [20.0,100.0], default value: 50. + gain float Optional parameter.Proportional gain of the target position, similar to the P in PID control.Scalar, no unit, value range: [200.0,1000.0], default value: 500. + """ + string = "" + string = "ServoP({:f},{:f},{:f},{:f},{:f},{:f}".format(X, Y, Z, RX, RY, RZ) + params = [] + if t != -1: + params.append('t={:f}'.format(t)) + if aheadtime != -1: + params.append('aheadtime={:f}'.format(aheadtime)) + if gain != -1: + params.append('gain={:f}'.format(gain)) + for ii in params: + string = string + ','+ii + string = string + ')' + return self.sendMsg(string) + def ServoP(self, X, Y, Z, RX, RY, RZ, t=-1.0,aheadtime=-1.0, gain=-1.0): """ 参数名 类型 含义 是否必填 参数范围 diff --git a/Massage/MassageControl/hardware/force_sensor.py b/Massage/MassageControl/hardware/force_sensor.py index 3364f39..8d1d3ae 100644 --- a/Massage/MassageControl/hardware/force_sensor.py +++ b/Massage/MassageControl/hardware/force_sensor.py @@ -15,7 +15,7 @@ sys.path.append(os.path.abspath(os.path.join(os.getcwd(), "Massage/MassageContro class XjcSensor: - def __init__(self, port='/dev/ttyS0', baudrate=115200, rate=250): + def __init__(self, port='/dev/ttyUSB0', baudrate=115200, rate=250): self.port = port self.baudrate = baudrate self.rate = rate @@ -294,6 +294,56 @@ class XjcSensor: except serial.SerialException as e: print(f"Serial communication error: {e}") return None + + # def read(self): + # """ + # Read the sensor's data. + # """ + # if self.ser is None: + # print("Serial port not initialized.") + # return None + + # try: + # # 清空缓冲区 + # if self.ser.in_waiting > 0: + # self.ser.read(self.ser.in_waiting) + + # # 尝试寻找帧头（0x20 0x4E） + # for _ in range(100): # 最多尝试100次避免死循环 + # if self.ser.in_waiting >= 2: + # byte1 = self.ser.read(1) + # if int.from_bytes(byte1, 'big') == 0x20: + # byte2 = self.ser.read(1) + # if int.from_bytes(byte2, 'big') == 0x4E: + # response = bytearray([0x20, 0x4E]) + # break + # else: + # continue + # else: + # print("Frame header not found.") + # return None + + # # 读取剩余14个字节 + # remaining = self.ser.read(14) + # if len(remaining) < 14: + # print("Incomplete data received.") + # return None + # response.extend(remaining) + + # # CRC 校验 + # Lo_check, Hi_check = self.crc16(response[:-2]) + # if response[-1] != Hi_check or response[-2] != Lo_check: + # print("CRC check failed!") + # return None + + # # 数据解析 + # sensor_data = self.parse_data_passive(response) + # return sensor_data + + # except serial.SerialException as e: + # print(f"Serial communication error: {e}") + # return None + def parse_data_passive(self, buffer): @@ -425,14 +475,14 @@ if __name__ == "__main__": xjc_sensor.set_zero() xjc_sensor.set_zero() xjc_sensor.set_zero() - # time.sleep(1) - # xjc_sensor.enable_active_transmission() - # while True: - # # sensor_data = xjc_sensor.read() - # sensor_data = xjc_sensor.read_data_f32() - # current_time = time.strftime("%Y-%m-%d_%H-%M-%S") - # if sensor_data is None: - # print('failed to get force sensor data!') - # print(f"{current_time}-----{sensor_data}") - # rate.sleep(False) - # # break + time.sleep(1) + xjc_sensor.enable_active_transmission() + while True: + sensor_data = xjc_sensor.read() + # sensor_data = xjc_sensor.read_data_f32() + current_time = time.strftime("%Y-%m-%d_%H-%M-%S") + if sensor_data is None: + print('failed to get force sensor data!') + print(f"{current_time}-----{sensor_data}") + rate.sleep(False) + # break diff --git a/Massage/MassageControl/tools/identifier_dobot.py b/Massage/MassageControl/tools/identifier_dobot.py index 3cfd03b..e93f361 100644 --- a/Massage/MassageControl/tools/identifier_dobot.py +++ b/Massage/MassageControl/tools/identifier_dobot.py @@ -180,8 +180,8 @@ class Identifier: if __name__ == '__main__': arm = dobot_nova5() # arm.start() - arm.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}") - arm.chooseEndEffector(i=9) + # arm.setEndEffector(i=9,tool_i="{0.0,0.0,154.071,0.0,0.0,0.0}") + # arm.chooseEndEffector(i=9) arm.init() sensor = XjcSensor() sensor.connect() @@ -189,9 +189,9 @@ if __name__ == '__main__': sensor.disable_active_transmission() sensor.disable_active_transmission() atexit.register(sensor.disconnect) - identifier = Identifier(arm=arm,sensor=sensor,config_path="/home/jsfb/jsfb_ws/global_config/massage_head/shockwave_playload.yaml") + identifier = Identifier(arm=arm,sensor=sensor,config_path="/home/jsfb/jsfb_ws/global_config/massage_head/roller_playload.yaml") ready_pose = [0.403467*1000,-0.1349880*1000,0.423604*1000,-180.0000,-30.0000,0.0042] # ready_pose = [250.0, -135.0, 344.3392, -180.0, 0.0, -90.0] time.sleep(1) - identifier.identify_param_auto(ready_pose,15) + identifier.identify_param_auto(ready_pose,45) arm.disableRobot() \ No newline at end of file diff --git a/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_0.jpg b/Massage/aucpuncture2point/configs/using_img/Pixel_Visualization_0.jpg index 8afe6e6..de76689 100644 Binary files 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