release v3.1.8

Author: anla-xu

CHANGELOG.md

@@ -1,8 +1,14 @@
 # ChangeLog for pymycobot
 
+## v3.1.8 (2023-09-04)
+
+- release v3.1.8
+- Add myAGV interface.
+- Increase interface robustness.
+
 ## v3.1.7 (2023-8-8)
 
-- release v3.1.6
+- release v3.1.7
 - Fix myArm interface error
 
 ## v3.1.6 (2023-6-19)

demo/drag_trial_teaching_myArm.py

@@ -0,0 +1,217 @@
+import time
+import os
+import sys
+import termios
+import tty
+import threading
+import json
+import serial
+import serial.tools.list_ports
+
+from pymycobot import MyArm
+
+
+port: str
+mc: MyArm
+sp: int = 80
+
+
+def setup():
+    print("")
+    global port, mc
+    plist = list(serial.tools.list_ports.comports())
+    idx = 1
+    for port in plist:
+        print("{} : {}".format(idx, port))
+        idx += 1
+
+    _in = input("\nPlease input 1 - {} to choice:".format(idx - 1))
+    port = str(plist[int(_in) - 1]).split(" - ")[0].strip()
+    print(port)
+    print("")
+
+    baud = 115200
+    # _baud = input("Please input baud(default:1000000):")
+    # try:
+    #     baud = int(_baud)
+    # except Exception:
+    #     pass
+    # print(baud)
+    print("")
+
+    DEBUG = False
+    f = input("Wether DEBUG mode[Y/n](default:n):")
+    if f in ["y", "Y", "yes", "Yes"]:
+        DEBUG = True
+    # mc = MyCobot(port, debug=True)
+    mc = MyArm(port, baud, debug=DEBUG)
+
+
+class Raw(object):
+    """Set raw input mode for device"""
+
+    def __init__(self, stream):
+        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), end="")
+        print("\r{}".format(msg), end="")
+
+
+class TeachingTest(Helper):
+    def __init__(self, mycobot) -> None:
+        super().__init__()
+        self.mc = mycobot
+        self.recording = False
+        self.playing = False
+        self.record_list = []
+        self.record_t = None
+        self.play_t = None
+        self.path = os.path.dirname(os.path.abspath(__file__)) + "/record.txt"
+
+    def record(self):
+        self.record_list = []
+        self.recording = True
+        #self.mc.set_fresh_mode(0)
+        def _record():
+            
+
+            while self.recording:
+                start_t = time.time()
+                angles = self.mc.get_encoders()
+                speeds = self.mc.get_servo_speeds()
+                gripper_value = self.mc.get_gripper_value()
+                interval_time = time.time() - start_t
+                #print(angles)
+                if angles:
+                    self.record_list.append([angles, speeds, gripper_value, interval_time])
+                    # time.sleep(0.1)
+                    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")
+        i = 0
+        for angles in self.record_list:
+            #print(angles)
+            self.mc.set_encoders_drag(angles[0],angles[1])
+            self.mc.set_gripper_value(angles[2], 80)
+            if i == 0:
+                time.sleep(3)
+            time.sleep(angles[-1])
+        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
+                self.mc.set_encoders_drag(self.record_list[idx_][0],self.record_list[idx_][1])
+                self.mc.set_encoder(7, self.record_list[idx_])
+                if idx_ == 0:
+                    time.sleep(3)
+                time.sleep(self.record_list[idx_][-1])
+
+        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(self.path, "w") as f:
+            json.dump(self.record_list, f, indent=2)
+            self.echo("save dir:  {}\n".format(self.path))
+
+    def load_from_local(self):
+        with open(self.path, "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: quit
+        \r r: start record
+        \r c: stop record
+        \r p: play once
+        \r P: loop play / stop loop play
+        \r s: save to local
+        \r l: load from local
+        \r f: release mycobot
+        \r----------------------------------
+            """
+        )
+
+    def start(self):
+        self.print_menu()
+
+        while not False:
+            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.mc.release_all_servos()
+                    self.echo("Released")
+                else:
+                    print(key)
+                    continue
+
+
+if __name__ == "__main__":
+    setup()
+    recorder = TeachingTest(mc)
+    recorder.start()

pymycobot/__init__.py

@@ -48,7 +48,7 @@
     from pymycobot.mybuddyemoticon import MyBuddyEmoticon
     __all__.append("MyBuddyEmoticon")
 
-__version__ = "3.1.8b4"
+__version__ = "3.1.8"
 __author__ = "Elephantrobotics"
 __email__ = "[email protected]"
 __git_url__ = "https://github.com/elephantrobotics/pymycobot"

pymycobot/elephantrobot.py

@@ -211,7 +211,7 @@ def get_digital_out(self, pin_number):
         print(command)
         self.send_command(command)
 
-    def get_joint_current(self, joint_number: int):
+    def get_joint_current(self, joint_number):
         command = "get_joint_current(" + str(joint_number) + ")\n"
         print(command)
         self.send_command(command)
@@ -255,7 +255,7 @@ def get_variable(self, var_name):
         return self.send_command(command)
 
     def jog_relative(self, joint_id, angle, speed):
-        command = 'SendJogIncrement("' + str(var_name) + '")\n'
+        command = 'SendJogIncrement("{}","{}","{}")\n'.format(joint_id, angle, speed)
         return self.send_command(command)
 
 

pymycobot/robot_limit.json

@@ -43,8 +43,8 @@
     },
     "MyArm":{
         "id":[1,2,3,4,5,6,7],
-        "angles_min":[-160, -80, -165, -100, -165, -110, -165],
-        "angles_max":[160, 80, 165, 80, 165, 110, 165],
+        "angles_min":[-160, -70, -170, -113, -170, -115, -180],
+        "angles_max":[160, 115, 170, 75, 170, 115, 180],
         "coords_min":[-310, -310, -140, -180, -180, -180],
         "coords_max":[310, 310, 480, 180, 180, 180]
     },