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anla-xuanla-xu
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Optimize MC demo
1 parent 0a7f2fc commit 193ede1

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6 files changed

+76
-45
lines changed

6 files changed

+76
-45
lines changed

‎demo/myArm_M&C_demo_v1.1/get_date.py‎

Lines changed: 6 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,6 @@
11

22
from pymycobot import MyArmC, MyArmM
3+
from pymycobot.robot_info import RobotLimit
34

45
import time
56
from PySide6.QtCore import QThread, Signal
@@ -40,6 +41,11 @@ def run(self) -> None:
4041
data["angle"][-1] = 2
4142
elif data["angle"][-1] < -118:
4243
data["angle"][-1] = -118
44+
for i in range(len(data)):
45+
if data[i] > 0 and (RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - data[i]) < 5:
46+
data[i] = RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - 5
47+
elif data[i] < 0 and (data[i] - RobotLimit.robot_limit["MyArmM"]["angles_min"][i]) < 5:
48+
data[i] = RobotLimit.robot_limit["MyArmM"]["angles_min"][i] + 5
4349
self.parent_serial.serial.set_joints_angle(data["angle"], 100)
4450
else:
4551
# data["angle"] = self.serial.get_servos_encoder()

‎demo/myArm_M&C_demo_v1.1/main.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -18,7 +18,7 @@ def __init__(self):
1818
self.setupUi(self)
1919
self.icon = QIcon()
2020
self.icon.addPixmap(QPixmap(os.getcwd()+"/resources/mystudio.ico"), QIcon.Normal, QIcon.Off)
21-
21+
self.tip_label.setText("Note: After the program is started, the M750 will follow the C650 to do the same action. Please place the two machines in the same position to avoid sudden swinging of the machines.")
2222
self.setWindowIcon(self.icon)
2323
# 设置表格列宽均分
2424

‎demo/myArm_M&C_demo_v1.1/myarm_c.py‎

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -16,6 +16,7 @@ def get_port(): # 获取所有串口号
1616

1717
def main():
1818
port_dict = get_port()
19+
print("Note: After the program is started, the M750 will follow the C650 to do the same action. Please place the two machines in the same position to avoid sudden swinging of the machines.")
1920
port_c = input("input myArm C port: ")
2021
c_port = port_dict[port_c]
2122
c = MyArmC(c_port, debug=False)

‎demo/myArm_M&C_demo_v1.1/myarm_m.py‎

Lines changed: 7 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -4,6 +4,7 @@
44
import serial.tools.list_ports
55
import time
66
import socket
7+
from pymycobot.robot_info import RobotLimit
78

89
def get_port(): # 获取所有串口号
910
port_list = serial.tools.list_ports.comports()
@@ -31,6 +32,7 @@ def main():
3132
server.bind((HOST, PORT))
3233
server.listen(5)
3334
port_dict = get_port()
35+
print("Note: After the program is started, the M750 will follow the C650 to do the same action. Please place the two machines in the same position to avoid sudden swinging of the machines.")
3436
port_m = input("input myArm M port: ")
3537
m_port = port_dict[port_m]
3638
m = MyArmM(m_port, 1000000, debug=False)
@@ -48,6 +50,11 @@ def main():
4850
try:
4951
data = conn.recv(1024).decode('utf-8')
5052
angle = processing_data(data)
53+
for i in range(len(angle)):
54+
if angle[i] > 0 and (RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - angle[i]) < 5:
55+
angle[i] = RobotLimit.robot_limit["MyArmM"]["angles_max"][i] - 5
56+
elif angle[i] < 0 and (angle[i] - RobotLimit.robot_limit["MyArmM"]["angles_min"][i]) < 5:
57+
angle[i] = RobotLimit.robot_limit["MyArmM"]["angles_min"][i] + 5
5158
m.set_joints_angle(angle, speed)
5259
except MyArmDataException:
5360
pass

‎demo/myArm_M&C_demo_v1.1/ui/tool.ui‎

Lines changed: 32 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -26,6 +26,16 @@
2626
</property>
2727
</widget>
2828
</item>
29+
<item>
30+
<widget class="QLabel" name="tip_label">
31+
<property name="styleSheet">
32+
<string notr="true">color: red;</string>
33+
</property>
34+
<property name="text">
35+
<string>TextLabel</string>
36+
</property>
37+
</widget>
38+
</item>
2939
<item>
3040
<layout class="QHBoxLayout" name="horizontalLayout_5">
3141
<item>
@@ -58,10 +68,10 @@
5868
<item>
5969
<spacer name="horizontalSpacer">
6070
<property name="orientation">
61-
<enum>Qt::Horizontal</enum>
71+
<enum>Qt::Orientation::Horizontal</enum>
6272
</property>
6373
<property name="sizeType">
64-
<enum>QSizePolicy::Fixed</enum>
74+
<enum>QSizePolicy::Policy::Fixed</enum>
6575
</property>
6676
<property name="sizeHint" stdset="0">
6777
<size>
@@ -88,10 +98,10 @@
8898
<item>
8999
<spacer name="horizontalSpacer_5">
90100
<property name="orientation">
91-
<enum>Qt::Horizontal</enum>
101+
<enum>Qt::Orientation::Horizontal</enum>
92102
</property>
93103
<property name="sizeType">
94-
<enum>QSizePolicy::Fixed</enum>
104+
<enum>QSizePolicy::Policy::Fixed</enum>
95105
</property>
96106
<property name="sizeHint" stdset="0">
97107
<size>
@@ -118,10 +128,10 @@
118128
<item>
119129
<spacer name="horizontalSpacer_3">
120130
<property name="orientation">
121-
<enum>Qt::Horizontal</enum>
131+
<enum>Qt::Orientation::Horizontal</enum>
122132
</property>
123133
<property name="sizeType">
124-
<enum>QSizePolicy::Fixed</enum>
134+
<enum>QSizePolicy::Policy::Fixed</enum>
125135
</property>
126136
<property name="sizeHint" stdset="0">
127137
<size>
@@ -148,10 +158,10 @@
148158
<item>
149159
<spacer name="horizontalSpacer_4">
150160
<property name="orientation">
151-
<enum>Qt::Horizontal</enum>
161+
<enum>Qt::Orientation::Horizontal</enum>
152162
</property>
153163
<property name="sizeType">
154-
<enum>QSizePolicy::Fixed</enum>
164+
<enum>QSizePolicy::Policy::Fixed</enum>
155165
</property>
156166
<property name="sizeHint" stdset="0">
157167
<size>
@@ -166,7 +176,7 @@
166176
<item>
167177
<spacer name="verticalSpacer">
168178
<property name="orientation">
169-
<enum>Qt::Vertical</enum>
179+
<enum>Qt::Orientation::Vertical</enum>
170180
</property>
171181
<property name="sizeHint" stdset="0">
172182
<size>
@@ -202,22 +212,22 @@
202212
<number>16</number>
203213
</property>
204214
<property name="editTriggers">
205-
<set>QAbstractItemView::NoEditTriggers</set>
215+
<set>QAbstractItemView::EditTrigger::NoEditTriggers</set>
206216
</property>
207217
<property name="dragDropOverwriteMode">
208218
<bool>true</bool>
209219
</property>
210220
<property name="dragDropMode">
211-
<enum>QAbstractItemView::NoDragDrop</enum>
221+
<enum>QAbstractItemView::DragDropMode::NoDragDrop</enum>
212222
</property>
213223
<property name="selectionBehavior">
214-
<enum>QAbstractItemView::SelectItems</enum>
224+
<enum>QAbstractItemView::SelectionBehavior::SelectItems</enum>
215225
</property>
216226
<property name="showGrid">
217227
<bool>true</bool>
218228
</property>
219229
<property name="gridStyle">
220-
<enum>Qt::SolidLine</enum>
230+
<enum>Qt::PenStyle::SolidLine</enum>
221231
</property>
222232
<property name="sortingEnabled">
223233
<bool>false</bool>
@@ -526,16 +536,16 @@
526536
<number>16</number>
527537
</property>
528538
<property name="editTriggers">
529-
<set>QAbstractItemView::NoEditTriggers</set>
539+
<set>QAbstractItemView::EditTrigger::NoEditTriggers</set>
530540
</property>
531541
<property name="selectionBehavior">
532-
<enum>QAbstractItemView::SelectItems</enum>
542+
<enum>QAbstractItemView::SelectionBehavior::SelectItems</enum>
533543
</property>
534544
<property name="showGrid">
535545
<bool>true</bool>
536546
</property>
537547
<property name="gridStyle">
538-
<enum>Qt::SolidLine</enum>
548+
<enum>Qt::PenStyle::SolidLine</enum>
539549
</property>
540550
<property name="sortingEnabled">
541551
<bool>false</bool>
@@ -841,16 +851,16 @@
841851
<number>16</number>
842852
</property>
843853
<property name="editTriggers">
844-
<set>QAbstractItemView::NoEditTriggers</set>
854+
<set>QAbstractItemView::EditTrigger::NoEditTriggers</set>
845855
</property>
846856
<property name="selectionBehavior">
847-
<enum>QAbstractItemView::SelectItems</enum>
857+
<enum>QAbstractItemView::SelectionBehavior::SelectItems</enum>
848858
</property>
849859
<property name="showGrid">
850860
<bool>true</bool>
851861
</property>
852862
<property name="gridStyle">
853-
<enum>Qt::SolidLine</enum>
863+
<enum>Qt::PenStyle::SolidLine</enum>
854864
</property>
855865
<property name="sortingEnabled">
856866
<bool>false</bool>
@@ -1156,16 +1166,16 @@
11561166
<number>16</number>
11571167
</property>
11581168
<property name="editTriggers">
1159-
<set>QAbstractItemView::NoEditTriggers</set>
1169+
<set>QAbstractItemView::EditTrigger::NoEditTriggers</set>
11601170
</property>
11611171
<property name="selectionBehavior">
1162-
<enum>QAbstractItemView::SelectItems</enum>
1172+
<enum>QAbstractItemView::SelectionBehavior::SelectItems</enum>
11631173
</property>
11641174
<property name="showGrid">
11651175
<bool>true</bool>
11661176
</property>
11671177
<property name="gridStyle">
1168-
<enum>Qt::SolidLine</enum>
1178+
<enum>Qt::PenStyle::SolidLine</enum>
11691179
</property>
11701180
<property name="sortingEnabled">
11711181
<bool>false</bool>

‎demo/myArm_M&C_demo_v1.1/ui/tool_ui.py‎

Lines changed: 29 additions & 22 deletions
Original file line numberDiff line numberDiff line change
@@ -3,7 +3,7 @@
33
################################################################################
44
## Form generated from reading UI file 'tool.ui'
55
##
6-
## Created by: Qt User Interface Compiler version 6.7.0
6+
## Created by: Qt User Interface Compiler version 6.8.0
77
##
88
## WARNING! All changes made in this file will be lost when recompiling UI file!
99
################################################################################
@@ -35,6 +35,12 @@ def setupUi(self, Form):
3535

3636
self.verticalLayout_6.addWidget(self.label)
3737

38+
self.tip_label = QLabel(Form)
39+
self.tip_label.setObjectName(u"tip_label")
40+
self.tip_label.setStyleSheet(u"color: red;")
41+
42+
self.verticalLayout_6.addWidget(self.tip_label)
43+
3844
self.horizontalLayout_5 = QHBoxLayout()
3945
self.horizontalLayout_5.setObjectName(u"horizontalLayout_5")
4046
self.widget = QWidget(Form)
@@ -247,23 +253,23 @@ def setupUi(self, Form):
247253
self.tableWidget.setItem(7, 2, __qtablewidgetitem34)
248254
self.tableWidget.setObjectName(u"tableWidget")
249255
self.tableWidget.setAutoScrollMargin(16)
250-
self.tableWidget.setEditTriggers(QAbstractItemView.NoEditTriggers)
256+
self.tableWidget.setEditTriggers(QAbstractItemView.EditTrigger.NoEditTriggers)
251257
self.tableWidget.setDragDropOverwriteMode(True)
252-
self.tableWidget.setDragDropMode(QAbstractItemView.NoDragDrop)
253-
self.tableWidget.setSelectionBehavior(QAbstractItemView.SelectItems)
258+
self.tableWidget.setDragDropMode(QAbstractItemView.DragDropMode.NoDragDrop)
259+
self.tableWidget.setSelectionBehavior(QAbstractItemView.SelectionBehavior.SelectItems)
254260
self.tableWidget.setShowGrid(True)
255-
self.tableWidget.setGridStyle(Qt.SolidLine)
261+
self.tableWidget.setGridStyle(Qt.PenStyle.SolidLine)
256262
self.tableWidget.setSortingEnabled(False)
257263
self.tableWidget.setWordWrap(True)
258264
self.tableWidget.horizontalHeader().setCascadingSectionResizes(False)
259-
self.tableWidget.horizontalHeader().setProperty("showSortIndicator", False)
265+
self.tableWidget.horizontalHeader().setProperty(u"showSortIndicator", False)
260266
self.tableWidget.horizontalHeader().setStretchLastSection(False)
261267
self.tableWidget.verticalHeader().setVisible(False)
262268
self.tableWidget.verticalHeader().setCascadingSectionResizes(False)
263269
self.tableWidget.verticalHeader().setMinimumSectionSize(1)
264270
self.tableWidget.verticalHeader().setDefaultSectionSize(27)
265271
self.tableWidget.verticalHeader().setHighlightSections(True)
266-
self.tableWidget.verticalHeader().setProperty("showSortIndicator", False)
272+
self.tableWidget.verticalHeader().setProperty(u"showSortIndicator", False)
267273
self.tableWidget.verticalHeader().setStretchLastSection(False)
268274

269275
self.verticalLayout_2.addWidget(self.tableWidget)
@@ -380,20 +386,20 @@ def setupUi(self, Form):
380386
self.tableWidget_2.setItem(7, 2, __qtablewidgetitem69)
381387
self.tableWidget_2.setObjectName(u"tableWidget_2")
382388
self.tableWidget_2.setAutoScrollMargin(16)
383-
self.tableWidget_2.setEditTriggers(QAbstractItemView.NoEditTriggers)
384-
self.tableWidget_2.setSelectionBehavior(QAbstractItemView.SelectItems)
389+
self.tableWidget_2.setEditTriggers(QAbstractItemView.EditTrigger.NoEditTriggers)
390+
self.tableWidget_2.setSelectionBehavior(QAbstractItemView.SelectionBehavior.SelectItems)
385391
self.tableWidget_2.setShowGrid(True)
386-
self.tableWidget_2.setGridStyle(Qt.SolidLine)
392+
self.tableWidget_2.setGridStyle(Qt.PenStyle.SolidLine)
387393
self.tableWidget_2.setSortingEnabled(False)
388394
self.tableWidget_2.horizontalHeader().setCascadingSectionResizes(False)
389-
self.tableWidget_2.horizontalHeader().setProperty("showSortIndicator", False)
395+
self.tableWidget_2.horizontalHeader().setProperty(u"showSortIndicator", False)
390396
self.tableWidget_2.horizontalHeader().setStretchLastSection(False)
391397
self.tableWidget_2.verticalHeader().setVisible(False)
392398
self.tableWidget_2.verticalHeader().setCascadingSectionResizes(False)
393399
self.tableWidget_2.verticalHeader().setMinimumSectionSize(1)
394400
self.tableWidget_2.verticalHeader().setDefaultSectionSize(27)
395401
self.tableWidget_2.verticalHeader().setHighlightSections(True)
396-
self.tableWidget_2.verticalHeader().setProperty("showSortIndicator", False)
402+
self.tableWidget_2.verticalHeader().setProperty(u"showSortIndicator", False)
397403
self.tableWidget_2.verticalHeader().setStretchLastSection(False)
398404

399405
self.verticalLayout_3.addWidget(self.tableWidget_2)
@@ -510,20 +516,20 @@ def setupUi(self, Form):
510516
self.tableWidget_3.setItem(7, 2, __qtablewidgetitem104)
511517
self.tableWidget_3.setObjectName(u"tableWidget_3")
512518
self.tableWidget_3.setAutoScrollMargin(16)
513-
self.tableWidget_3.setEditTriggers(QAbstractItemView.NoEditTriggers)
514-
self.tableWidget_3.setSelectionBehavior(QAbstractItemView.SelectItems)
519+
self.tableWidget_3.setEditTriggers(QAbstractItemView.EditTrigger.NoEditTriggers)
520+
self.tableWidget_3.setSelectionBehavior(QAbstractItemView.SelectionBehavior.SelectItems)
515521
self.tableWidget_3.setShowGrid(True)
516-
self.tableWidget_3.setGridStyle(Qt.SolidLine)
522+
self.tableWidget_3.setGridStyle(Qt.PenStyle.SolidLine)
517523
self.tableWidget_3.setSortingEnabled(False)
518524
self.tableWidget_3.horizontalHeader().setCascadingSectionResizes(False)
519-
self.tableWidget_3.horizontalHeader().setProperty("showSortIndicator", False)
525+
self.tableWidget_3.horizontalHeader().setProperty(u"showSortIndicator", False)
520526
self.tableWidget_3.horizontalHeader().setStretchLastSection(False)
521527
self.tableWidget_3.verticalHeader().setVisible(False)
522528
self.tableWidget_3.verticalHeader().setCascadingSectionResizes(False)
523529
self.tableWidget_3.verticalHeader().setMinimumSectionSize(1)
524530
self.tableWidget_3.verticalHeader().setDefaultSectionSize(27)
525531
self.tableWidget_3.verticalHeader().setHighlightSections(True)
526-
self.tableWidget_3.verticalHeader().setProperty("showSortIndicator", False)
532+
self.tableWidget_3.verticalHeader().setProperty(u"showSortIndicator", False)
527533
self.tableWidget_3.verticalHeader().setStretchLastSection(False)
528534

529535
self.verticalLayout_4.addWidget(self.tableWidget_3)
@@ -640,20 +646,20 @@ def setupUi(self, Form):
640646
self.tableWidget_4.setItem(7, 2, __qtablewidgetitem139)
641647
self.tableWidget_4.setObjectName(u"tableWidget_4")
642648
self.tableWidget_4.setAutoScrollMargin(16)
643-
self.tableWidget_4.setEditTriggers(QAbstractItemView.NoEditTriggers)
644-
self.tableWidget_4.setSelectionBehavior(QAbstractItemView.SelectItems)
649+
self.tableWidget_4.setEditTriggers(QAbstractItemView.EditTrigger.NoEditTriggers)
650+
self.tableWidget_4.setSelectionBehavior(QAbstractItemView.SelectionBehavior.SelectItems)
645651
self.tableWidget_4.setShowGrid(True)
646-
self.tableWidget_4.setGridStyle(Qt.SolidLine)
652+
self.tableWidget_4.setGridStyle(Qt.PenStyle.SolidLine)
647653
self.tableWidget_4.setSortingEnabled(False)
648654
self.tableWidget_4.horizontalHeader().setCascadingSectionResizes(False)
649-
self.tableWidget_4.horizontalHeader().setProperty("showSortIndicator", False)
655+
self.tableWidget_4.horizontalHeader().setProperty(u"showSortIndicator", False)
650656
self.tableWidget_4.horizontalHeader().setStretchLastSection(False)
651657
self.tableWidget_4.verticalHeader().setVisible(False)
652658
self.tableWidget_4.verticalHeader().setCascadingSectionResizes(False)
653659
self.tableWidget_4.verticalHeader().setMinimumSectionSize(1)
654660
self.tableWidget_4.verticalHeader().setDefaultSectionSize(27)
655661
self.tableWidget_4.verticalHeader().setHighlightSections(True)
656-
self.tableWidget_4.verticalHeader().setProperty("showSortIndicator", False)
662+
self.tableWidget_4.verticalHeader().setProperty(u"showSortIndicator", False)
657663
self.tableWidget_4.verticalHeader().setStretchLastSection(False)
658664

659665
self.verticalLayout_5.addWidget(self.tableWidget_4)
@@ -676,6 +682,7 @@ def setupUi(self, Form):
676682
def retranslateUi(self, Form):
677683
Form.setWindowTitle(QCoreApplication.translate("Form", u"myStudio Pro", None))
678684
self.label.setText(QCoreApplication.translate("Form", u"myStudio Pro", None))
685+
self.tip_label.setText(QCoreApplication.translate("Form", u"TextLabel", None))
679686
self.label_2.setText(QCoreApplication.translate("Form", u"Robotics Port", None))
680687
self.label_3.setText(QCoreApplication.translate("Form", u"LC Port:", None))
681688
self.label_4.setText(QCoreApplication.translate("Form", u"RC Port:", None))

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