push code

Author: anla-xu

pymycobot/mercury.py

@@ -334,6 +334,20 @@ def drag_tech_pause(self):
         """Pause recording of dragging teaching point"""
         self._mesg(ProtocolCode.MERCURY_DRAG_TECH_PAUSE)
 
+    def is_gripper_moving(self, mode=None):
+        """Judge whether the gripper is moving or not
+        
+        Args:
+            mode: 1 - pro gripper(default)  2 - Parallel gripper
+
+        Returns:
+            0 - not moving
+            1 - is moving
+            -1- error data
+        """
+        if mode:
+            return self._mesg(ProtocolCode.IS_GRIPPER_MOVING, mode, has_reply=True)
+        return self._mesg(ProtocolCode.IS_GRIPPER_MOVING, has_reply=True)
 
 
 

pymycobot/mercurychassis.py

@@ -0,0 +1,44 @@
+
+import socket
+import json
+import threading
+
+class MercuryChassis:
+    def __init__(self):
+        self._sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+        self._sock.connect(("192.168.99.102", 9000))
+        self.recv = threading.Thread(self.is_move_end, daemon=True)
+        self.recv.start()
+        self.move_end = False
+        
+    def is_move_end(self):
+        while True:
+            data = self._sock.recv(1024)
+            data = json.load(data)
+            key = data.keys()[0]
+            self.move_end = key["return"]
+    
+    @property
+    def move_end(self):
+        return self.move_end
+        
+    def go_straight(self, speed=0.5, exercise_duration=5):
+        command = {"goStraight": {"time": exercise_duration, "speed": speed}}
+        self._sock.sendall(json.dump(command))
+        
+    def go_back(self, speed=0.5, exercise_duration=5):
+        command = {"goBack": {"time": exercise_duration, "speed": speed}}
+        self._sock.sendall(json.dump(command))
+        
+    def turn_left(self, speed=0.5, exercise_duration=5):
+        command = {"turnLeft": {"time": exercise_duration, "speed": speed}}
+        self._sock.sendall(json.dump(command))
+        
+    def go_straight(self, speed=0.5, exercise_duration=5):
+        command = {"turnRight": {"time": exercise_duration, "speed": speed}}
+        self._sock.sendall(json.dump(command))
+        
+    def stop(self):
+        command = {"stop": True}
+        self._sock.sendall(json.dump(command))
+