push code

Author: anla-xu

pymycobot/robot_limit.json

@@ -14,28 +14,28 @@
         "coords_max":[466, 466, 641, 180, 180, 180]
     },
     "MyCobot":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-170, -135, -150, -145, -170, -180],
         "angles_max":[170, 140, 150, 135, 170, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },
     "MyCobotSocket":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-170, -135, -150, -145, -170, -180],
         "angles_max":[170, 140, 150, 135, 170, 180],
         "coords_min":[-350, -350, -70, -180, -180, -180],
         "coords_max":[350, 350, 523.9, 180, 180, 180]
     },
     "MechArm":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-165, -90, -180, -165, -115, -175],
         "angles_max":[165, 90, 70, 165, 115, 175],
         "coords_min":[-272, -272, -36, -180, -180, -180],
         "coords_max":[272, 272, 408.9, 180, 180, 180]
     },
     "MechArmSocket":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-165, -90, -180, -165, -115, -175],
         "angles_max":[165, 90, 70, 165, 115, 175],
         "coords_min":[-272, -272, -36, -180, -180, -180],
@@ -56,28 +56,28 @@
         "coords_max":[310, 310, 480, 180, 180, 180]
     },
     "MyPalletizer":{
-        "id":[1,2,3,4],
+        "id":[1,2,3,4, 7],
         "angles_min":[-162, -2, -92, -180],
         "angles_max":[162, 90, 60, 180],
         "coords_min":[-260, -260, -15, -180],
         "coords_max":[260, 260, 357.58, 180]
     },
     "MyPalletizerSocket":{
-        "id":[1,2,3,4],
+        "id":[1,2,3,4, 7],
         "angles_min":[-162, -2, -92, -180],
         "angles_max":[162, 90, 60, 180],
         "coords_min":[-260, -260, -15, -180],
         "coords_max":[260, 260, 357.58, 180]
     },
     "UltraArm":{
-        "id":[1,2,3,4],
+        "id":[1,2,3,4, 7],
         "angles_min":[-150, -20, -5, -180],
         "angles_max":[170, 90, 110, 180],
         "coords_min":[-340, -340, 0, -180],
         "coords_max":[340, 340, 270.58, 180]
     },
     "MyBuddy":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-165, -165, -165, -165, -165, -175],
         "angles_max":[165, 165, 165, 165, 165, 175],
         "waist_angle_min":-120,
@@ -88,7 +88,7 @@
         "right_coords_max":[250, 40, 480, 180,180,180]
     },
     "MyBuddySocket":{
-        "id":[1,2,3,4,5,6],
+        "id":[1,2,3,4,5,6, 7],
         "angles_min":[-165, -165, -165, -165, -165, -175],
         "angles_max":[165, 165, 165, 165, 165, 175],
         "waist_angle_min":-120,

tests/rasp_myArm_test_gui.py

@@ -160,7 +160,7 @@ def disconnect_mycobot(self):
             self.mycobot = None
             self.write_log_to_Text("断开连接成功 !")
         except AttributeError:
-            self.write_log_to_Text("还没有连接mycobot！！！")
+            self.write_log_to_Text("还没有连接机器！！！")
 
     # ============================================================
     #  Function method

tests/rasp_mypall_test_gui.py

@@ -138,7 +138,7 @@ def connect_mycobot(self):
         # if not baud:
         #     self.write_log_to_Text("请选择波特率")
         #     return
-        baud = 115200
+        baud = 1000000
 
         try:
             # self.mycobot = MyCobot(PI_PORT, PI_BAUD)