merge main

Author: 2929ss

CHANGELOG.md

@@ -1,5 +1,28 @@
 # ChangeLog for pymycobot
 
+## v2.9.6 (2022-9-13)
+
+- release v2.9.6
+- Fix MyBuddySocket get_radians()、send_radians() BUG
+
+## v2.9.5 (2022-9-13)
+
+- release v2.9.5
+- Add MyBuddy serial open(),is_open() function
+- Add MyBuddy example
+
+## v2.9.4 (2022-9-8)
+
+- release v2.9.4
+- fix read_next_error() bug
+- fix set_ssid_pwd() bug
+
+## v2.9.3 (2022-8-31)
+
+- release v2.9.3
+- fix jog_increment() bug
+- Fixed an incorrect description of the set_fresh_mode interface
+
 ## v2.9.2 (2022-8-8)
 
 - release v2.9.2

demo/drag_trial_teaching350.py …_demo/drag_trial_teaching_myCobot_320.pydemo/drag_trial_teaching350.py renamed to demo/myCobot_320_demo/drag_trial_teaching_myCobot_320.py demo/drag_trial_teaching350.py renamed to demo/myCobot_320_demo/drag_trial_teaching_myCobot_320.py

@@ -7,6 +7,7 @@
 import json
 import serial
 import serial.tools.list_ports
+sys.path.append(os.getcwd())
 
 from pymycobot.mycobot import MyCobot
 

demo/350servo_info.py …Cobot_320_demo/myCobot_320_servo_info.pydemo/350servo_info.py renamed to demo/myCobot_320_demo/myCobot_320_servo_info.py demo/350servo_info.py renamed to demo/myCobot_320_demo/myCobot_320_servo_info.py

@@ -1,6 +1,11 @@
 # encoding=utf-8
+import os
+import sys
+sys.path.append(os.getcwd())
+
 import matplotlib.pyplot as plt
 import matplotlib.font_manager as font_manager
+
 from pymycobot import MyCobot
 
 mc = MyCobot("COM12", 115200)

…_320_testtool_M5version_v1.0_20220623.py …_320_testtool_M5version_v1.0_20220623.pydemo/myCobot_320_testtool_M5version_v1.0_20220623.py renamed to demo/myCobot_320_demo/myCobot_320_testtool_M5version_v1.0_20220623.py demo/myCobot_320_testtool_M5version_v1.0_20220623.py renamed to demo/myCobot_320_demo/myCobot_320_testtool_M5version_v1.0_20220623.py

@@ -1,4 +1,7 @@
 #!/usr/bin/env python3
+import os
+import sys
+sys.path.append(os.getcwd())
 import tkinter
 from tkinter import ttk
 import time

…_320_testtool_PIversion_v1.0_20220623.py …_320_testtool_PIversion_v1.0_20220623.pydemo/myCobot_320_testtool_PIversion_v1.0_20220623.py renamed to demo/myCobot_320_demo/myCobot_320_testtool_PIversion_v1.0_20220623.py demo/myCobot_320_testtool_PIversion_v1.0_20220623.py renamed to demo/myCobot_320_demo/myCobot_320_testtool_PIversion_v1.0_20220623.py

@@ -1,4 +1,7 @@
-#!/usr/bin/env python3
+import os
+import sys
+sys.path.append(os.getcwd())
+
 import socket
 import tkinter
 from tkinter import ttk

demo/drag_trial_teaching_mubuddy.py …uddy_demo/drag_trial_teaching_mubuddy.pydemo/drag_trial_teaching_mubuddy.py renamed to demo/mybuddy_demo/drag_trial_teaching_mubuddy.py demo/drag_trial_teaching_mubuddy.py renamed to demo/mybuddy_demo/drag_trial_teaching_mubuddy.py

@@ -10,7 +10,7 @@
 import json
 import serial
 import serial.tools.list_ports
-
+sys.path.append(os.getcwd())
 from pymycobot import MyBuddy
 
 

demo/mybuddy_demo/drag_trial_teaching_sync_mubuddy.py

@@ -0,0 +1,214 @@
+'''
+Drag and teach in windows version
+'''
+from pickle import FALSE
+import time
+import os
+import sys
+import threading
+import json
+import serial
+import serial.tools.list_ports
+import platform
+
+
+sys.path.append(os.getcwd())
+from pymycobot import MyBuddy
+
+
+mb: MyBuddy
+sp: int = 80
+os_version: str
+WIN = False
+LINUX = False
+
+def setup():
+    print("")
+    global port, mb, baud, os_version, WIN, LINUX
+    os_version = platform.system()
+    if os_version == 'Windows':
+        WIN = True
+        LINUX = False
+    elif os_version == 'Linux':
+        WIN = False
+        LINUX = True
+    if WIN:
+        port = 'COM21'
+        baud = 115200
+    elif LINUX:
+        port = '/dev/ttyACM0'
+        baud = 115200
+    mb = MyBuddy(port, baud, debug=True)
+
+
+class Raw(object):
+    """Set raw input mode for device"""
+
+
+    def __init__(self, stream):
+        import termios
+        import tty
+        self.stream = stream
+        self.fd = self.stream.fileno()
+
+    def __enter__(self):
+        self.original_stty = termios.tcgetattr(self.stream)
+        tty.setcbreak(self.stream)
+
+    def __exit__(self, type, value, traceback):
+        termios.tcsetattr(self.stream, termios.TCSANOW, self.original_stty)
+
+
+class Helper(object):
+    def __init__(self) -> None:
+        self.w, self.h = os.get_terminal_size()
+
+    def echo(self, msg):
+        print("\r{}".format(" " * self.w))
+        print("\r{}".format(msg))
+
+
+class TeachingTest(Helper):
+    def __init__(self, mycobot) -> None:
+        super().__init__()
+        self.mb = mb
+        self.recording = False
+        self.playing = False
+        self.record_list = []
+        self.record_t = None
+        self.play_t = None
+
+    def record(self):
+        self.record_list = []
+        self.recording = True
+
+        def _record():
+            start_t = time.time()
+            _id = 0
+            while self.recording:
+                _encoders = self.mb.get_encoders(_id)
+                if _encoders:
+                    if _encoders[-2:-1]:
+                        self.record_list.append(_encoders)
+                        time.sleep(0.05)
+                    # print("\r {}".format(time.time() - start_t), end="")
+        self.echo("Start recording.")
+        self.record_t = threading.Thread(target=_record, daemon=True)
+        self.record_t.start()
+
+    def stop_record(self):
+        if self.recording:
+            self.recording = False
+            self.record_t.join()
+            self.echo("Stop record")
+
+    def play(self):
+        self.echo("Start play")
+        for _encoders_data in self.record_list:
+            print(_encoders_data)
+            _encoders = _encoders_data[0:7] + _encoders_data[14:21] + _encoders_data[-2:-1]
+            _speeds = _encoders_data[7:14] + _encoders_data[21:28] + _encoders_data[-1:]
+            self.mb.set_encoders(0, _encoders,_speeds)
+            time.sleep(0.05)
+        self.echo("Finish play")
+
+    def loop_play(self):
+        self.playing = True
+
+        def _loop():
+            len_ = len(self.record_list)
+            i = 0
+            while self.playing:
+                idx_ = i % len_
+                i += 1
+                _encoders_data = self.record_list[idx_]
+                print(_encoders_data)
+                _encoders = _encoders_data[0:7] + _encoders_data[14:21] + _encoders_data[-2:-1]
+                _speeds = _encoders_data[7:14] + _encoders_data[21:28] + _encoders_data[-1:]
+                self.mb.set_encoders(0, _encoders,_speeds)
+                time.sleep(0.05)
+
+        self.echo("Start loop play.")
+        self.play_t = threading.Thread(target=_loop, daemon=True)
+        self.play_t.start()
+
+    def stop_loop_play(self):
+        if self.playing:
+            self.playing = False
+            self.play_t.join()
+            self.echo("Stop loop play.")
+
+    def save_to_local(self):
+        if not self.record_list:
+            self.echo("No data should save.")
+            return
+
+        with open(os.path.dirname(__file__) + "/record.txt", "w") as f:
+            json.dump(self.record_list, f, indent=2)
+            self.echo("save dir:  {}".format(os.path.dirname(__file__)))
+
+    def load_from_local(self):
+
+        with open(os.path.dirname(__file__) + "/record.txt", "r") as f:
+            try:
+                data = json.load(f)
+                self.record_list = data
+                self.echo("Load data success.")
+            except Exception:
+                self.echo("Error: invalid data.")
+
+    def print_menu(self):
+        print(
+            """\
+        \r q + Enter: quit
+        \r r + Enter: start record
+        \r c + Enter: stop record
+        \r p + Enter: play once
+        \r P + Enter: loop play / stop loop play
+        \r s + Enter: save to local
+        \r l + Enter: load from local
+        \r f + Enter: release mycobot
+        \r----------------------------------
+            """
+        )
+
+    def start(self):
+        global WIN, LINUX
+        self.print_menu()
+        while not False:
+            if WIN:
+                key = input()
+            elif LINUX:
+                with Raw(sys.stdin):
+                    key = sys.stdin.read(1)
+            if key == "q":
+                break
+            elif key == "r":  # recorder
+                self.record()
+            elif key == "c":  # stop recorder
+                self.stop_record()
+            elif key == "p":  # play
+                self.play()
+            elif key == "P":  # loop play
+                if not self.playing:
+                    self.loop_play()
+                else:
+                    self.stop_loop_play()
+            elif key == "s":  # save to local
+                self.save_to_local()
+            elif key == "l":  # load from local
+                self.load_from_local()
+            elif key == "f":  # free move
+                self.mb.release_all_servos(0)
+                time.sleep(0.05)
+                self.mb.release_all_servos(2)
+                self.echo("Released")
+            else:
+                print(key)
+                continue
+
+
+if __name__ == "__main__":
+    setup()
+    recorder = TeachingTest(mb)
+    recorder.start()

demo/mybuddy_demo/myBuddy_Action/ChewingGum.py

@@ -0,0 +1,90 @@
+# coding=utf8
+import os
+import time
+from pymycobot.mybuddy import MyBuddy
+import threading
+from threading import Lock, Thread
+import cv2 as cv
+# Establish serial connection
+mc = MyBuddy('/dev/ttyACM0', 115200)
+
+
+
+# Release the arms and record the points passed
+def read():
+    time.sleep(10)
+    t = time.time()
+    record_list = []
+    print(1)
+    while time.time() - t < 5:
+        angles_1 = mc.get_encoders(1)
+        angles_2 = mc.get_encoders(2)
+        if angles_1 and angles_2:
+            record_list.append([angles_1, angles_2])
+            time.sleep(0.1)
+    # Print the read location information, copy and save it as a txt file
+    for i in record_list:
+        print(i)
+
+
+# Take out and use the saved location
+def write():
+    time.sleep(1.5)
+    # The file here uses the saved txt file
+    data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum.txt')).read().splitlines()))
+    for angles in data:
+        data = eval(angles)[0]
+        data[4] -= 280
+        mc.set_encoders(1, data, 100)
+        time.sleep(0.03)
+        mc.set_encoders(2, eval(angles)[1], 100)
+        time.sleep(0.2)
+    time.sleep(1.5)
+    mc.set_gripper_state(2, 1)
+    time.sleep(1.5)
+    # The file here uses the saved txt file
+    data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum_2.txt')).read().splitlines()))
+    for angles in data:
+        data = eval(angles)[0]
+        data[4] -= 280
+        mc.set_encoders(1, data, 100)
+        time.sleep(0.03)
+        mc.set_encoders(2, eval(angles)[1], 100)
+        time.sleep(0.2)
+    time.sleep(1.5)
+    mc.set_gripper_state(2, 0)
+    time.sleep(1.5)
+    # The file here uses the saved txt file
+    data = list(filter(None, open(os.path.join(os.getcwd(), 'ChewingGum_3.txt')).read().splitlines()))
+    for angles in data:
+        data = eval(angles)[0]
+        data[4] -= 280
+        mc.set_encoders(1, data, 100)
+        time.sleep(0.03)
+        mc.set_encoders(2, eval(angles)[1], 100)
+        time.sleep(0.2)
+
+
+# show emoji
+def smile():
+    # The location where the emoji file is stored
+    cap = cv.VideoCapture("/home/ubuntu/emo/face_video_3_2.mp4")
+    out_win = "l"
+    cv.namedWindow(out_win, cv.WINDOW_NORMAL)
+    cv.setWindowProperty(out_win, cv.WND_PROP_FULLSCREEN, cv.WINDOW_FULLSCREEN)
+    # infinite loop
+    while True:
+        ret, frame = cap.read()
+        if frame is not None:
+            print(1)
+            cv.imshow(out_win, frame)
+        if cv.waitKey(1) & 0xFF == ord('q') or ret == False:
+            cap = cv.VideoCapture("/home/ubuntu/emo/look_happy.mp4")
+
+
+if __name__ == '__main__':
+    # run with multithreading
+    t1 = threading.Thread(target=write)
+    t2 = threading.Thread(target=smile)
+    t1.start()
+    t2.start()