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‎demo/myAGVPro_Composite_Kit/README.md

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# myAGVPro Composite Kit Handle Control Case
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- [简体中文](./README_zh.md)
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- [English](./README.md)
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## Program description
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**The handle function of the myAGVPro composite kit is shown below:**
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![](./agvpro_handle_control.png)
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**Note:**
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1. Before starting the program, you need to connect the handle to myAGVPro and turn on the handle.
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2. The `myArmM750` robot arm does not support suction pumps, and the program will prompt when using it
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**Kit Usage**
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For the use of composite kits, please visit the following link：
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- myAGVPro+MyArmM750: [Home storage training](https://docs.elephantrobotics.com/docs/myAGV_Pro_en/7-ExamplesRobotsUsing/7.1-MyArmM750.html)
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- myAGVPro+MyCobot320: [Warehouse cargo handling](https://docs.elephantrobotics.com/docs/myAGV_Pro_en/7-ExamplesRobotsUsing/7.2-MyCobot320.html)
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- myAGVPro+MyCobotPro630: [MCU door opening training](https://docs.elephantrobotics.com/docs/myAGV_Pro_en/7-ExamplesRobotsUsing/7.3-MyCobotPro630.html)
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## Run the program
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1. Clone the repository to the myAGVPro system
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```shell
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git clone https://github.com/elephantrobotics/pymycobot.git
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```
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2. Enter the repository directory
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```shell
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cd pymycobot/demo/myAGVPro_Composite_Kit
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```
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3. Install dependencies
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```shell
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pip install -r requirement.txt
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```
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4. Select the robot model
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To select the robot model, you need to configure the values ​​of `COMPOSITE_KIT_TYPE` and `COMPOSITE_KIT_COMPORT`.
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`COMPOSITE_KIT_TYPE`
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indicates the currently selected robot. The modified value needs to match the actual robot model, otherwise the robot
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cannot be controlled normally. The current optional robot arm parameters and models are as follows:
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| Parameters | Robot arm model |
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|-----------------|-----------------|
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| `MyCobotPro630` | MyCobot Pro630 |
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| `MyCobot320` | MyCobot320 M5 |
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| `MyArmM750` | MyArm M750 |
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| `Undefined` | / |
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When `COMPOSITE_KIT_TYPE = Undefined`, it means that the robot arm is not used. At this time, the handle cannot
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control the robot arm and is only valid for MyAGVPro.
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`COMPOSITE_KIT_COMPORT` represents the serial port number of the robot arm. The serial port number needs to be
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modified according to the actual connected robot arm. Configuration is required when the selected robot arm
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is `myArmM750` or `MyCobot320`.
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When the selected robot arm is `MyCobotPro630`, no configuration is required, because the control of `MyCobot Pro630`
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uses TCP protocol instead of serial port protocol. The values ​​of `COMPOSITE_KIT_HOST` and `COMPOSITE_KIT_PORT` need
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to be configured.
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`COMPOSITE_KIT_HOST` indicates the IP address of the robot, and `COMPOSITE_KIT_PORT` indicates the port number of the
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robot. The default value is `5001`, which needs to be modified according to the actual connected robot.
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The IP address and port number of the robot can be viewed through the built-in software `roboflow`. Note that the
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robot should be in the same LAN as MyAGVPro at this time.
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5. Run the program
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```shell
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python main.py
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```

‎demo/myAGVPro_Composite_Kit/README_zh.md

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# myAGVPro复合套件手柄控制案例
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- [简体中文](./README_zh.md)
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- [English](./README.md)
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## 程序说明
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**myAGVPro复合套件的手柄功能如下图所示:**
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![](./agvpro_handle_control.png)
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**注意:**
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1. 在启动程序之前，您需要将手柄连接到 myAGVPro 并打开手柄。
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2. `myArmM750`机械臂不支持吸泵，使用时程序会提示
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**套件使用:**
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复合套件使用请访问以下链接
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- myAGVPro+MyArmM750 [家居收纳训练](https://docs.elephantrobotics.com/docs/myAGV_Pro_cn/7-ExamplesRobotsUsing/7.1-MyArmM750.html)
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- myAGVPro+MyCobot320 [仓储货物搬运](https://docs.elephantrobotics.com/docs/myAGV_Pro_cn/7-ExamplesRobotsUsing/7.2-MyCobot320.html)
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- myAGVPro+MyCobotPro630 [MCU开门训练](https://docs.elephantrobotics.com/docs/myAGV_Pro_cn/7-ExamplesRobotsUsing/7.3-MyCobotPro630.html)
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## 程序运行
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1. 克隆仓库到本地
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```shell
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git clone https://github.com/elephantrobotics/pymycobot.git
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```
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2. 进入仓库目录
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```shell
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cd pymycobot/demo/myAGVPro_Composite_Kit
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```
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3. 安装依赖
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```shell
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pip install -r requirement.txt
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```
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4. 选择机械臂型号
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选择机械臂型号, 需要配置`COMPOSITE_KIT_TYPE`和`COMPOSITE_KIT_COMPORT`的值。
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`COMPOSITE_KIT_TYPE`
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表示当前选择的机械臂，修改的值需要与实际上的机械臂型号匹配，否则无法正常控制机械臂。当前可选机械臂参数及型号如下所示:
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| 参数 | 机械臂型号 |
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|-----------------|----------------|
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| `MyCobotPro630` | MyCobot Pro630 |
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| `MyCobot320` | MyCobot320 M5 |
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| `MyArmM750` | MyArm M750 |
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| `Undefined` | / |
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当`COMPOSITE_KIT_TYPE = Undefined`时，表示不使用机械臂，此时手柄无法对机械臂进行控制，只对MyAGVPro有效。
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`COMPOSITE_KIT_COMPORT`代表机械臂的串口号，需要根据实际连接的机械臂修改串口号。 选择的机械臂为`myArmM750`或`MyCobot320`
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时需要配置。
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当选择的机械臂为`MyCobotPro630`时不需要配置, 因为控制`MyCobot Pro630`
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使用的是TCP协议，而不是串口协议。需要配置`COMPOSITE_KIT_HOST`和`COMPOSITE_KIT_PORT`的值。
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`COMPOSITE_KIT_HOST`表示机械臂的IP地址，`COMPOSITE_KIT_PORT`表示机械臂的端口号，默认为`5001`, 需要根据实际连接的机械臂进行修改。
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可以通过内置软件`roboflow`查看机械臂的IP地址和端口号。注意，此时机械臂应该和MyAGVPro在同一个局域网内。
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5. 运行程序
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```shell
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python main.py
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```
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‎demo/myAGVPro_Composite_Kit/agvpro_handle_control.png

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‎demo/myAGVPro_Composite_Kit/composite_kit.py

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#!/usr/bin/env python
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# -*- coding: UTF-8 -*-
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import os
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import time
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from core import Number
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from core.joystick import InputJoystick, Hotkey
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from core.drive import AGVDriveAPI
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from core.controller import BaseControllerApi
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class AGVProCompositeKit(object):
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agvHorizontalSpeed: Number = Number(0.5, 0.1, 0.1)
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agvVerticalSpeed: Number = Number(0.75, 0.15, 0.15)
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agvRotationSpeed: Number = Number(1.5, 0.2, 0.1)
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joystick = InputJoystick(raw_mapping=False)
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def __init__(self, agv_pro_driver: AGVDriveAPI, arm_controller: BaseControllerApi):
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self.arm_controller = arm_controller
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self.agv_pro = agv_pro_driver
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if self.agv_pro.is_power_on() is False:
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self.agv_pro.power_on()
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print(f" # Start the AGVPRO power supply.")
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else:
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print(f" # AGVPRO is already powered on.")
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self.joystick.inject_caller(self)
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self._agv_motion_control = False
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self._arm_motion_control = False
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def init_joystick(self) -> bool:
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device = InputJoystick.get_gamepad(0)
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if device is not None:
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self.joystick.set_device(device)
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return device is not None
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@joystick.register(hotkey=Hotkey.L1)
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def L1(self, value: int):
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if value == 1 and not self._agv_motion_control:
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self.agv_pro.rotate_right(self.agvRotationSpeed.value)
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self._agv_motion_control = True
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print(f" # Rotate right.")
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return
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if value == 0 and self._agv_motion_control:
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self.agv_pro.stop()
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self._agv_motion_control = False
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print(f" # Stop rotating.")
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return
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@joystick.register(hotkey=Hotkey.R1)
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def R1(self, value: int):
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if value == 1 and not self._agv_motion_control:
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self.agv_pro.rotate_left(self.agvRotationSpeed.value)
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self._agv_motion_control = True
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print(f" # Rotate left.")
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return
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if value == 0 and self._agv_motion_control:
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self._agv_motion_control = False
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self.agv_pro.stop()
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print(f" # Stop rotating.")
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return
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@joystick.register(hotkey=Hotkey.L2, value_filter=lambda value: value == 0)
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def L2(self, _: int):
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hs = self.agvHorizontalSpeed.decrease()
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vs = self.agvVerticalSpeed.decrease()
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rs = self.agvRotationSpeed.decrease()
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print(f" # Speed decreases {hs = :.2f} {vs = :.2f} {rs = :.2f}")
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@joystick.register(hotkey=Hotkey.R2, value_filter=lambda value: value == 0)
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def R2(self, _: int):
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hs = self.agvHorizontalSpeed.increase()
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vs = self.agvVerticalSpeed.increase()
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rs = self.agvRotationSpeed.increase()
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print(f" # Speed increases {hs = :.2f} {vs = :.2f} {rs = :.2f}")
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@joystick.register(hotkey=Hotkey.RIGHT_Y_AXIS)
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def RIGHT_X_AXIS(self, value: int):
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if value < 128 and not self._agv_motion_control:
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self.agv_pro.forward(self.agvVerticalSpeed.value)
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self._agv_motion_control = True
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print(f" # Move forward.")
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elif value > 128 and not self._agv_motion_control:
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self.agv_pro.backward(self.agvVerticalSpeed.value)
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self._agv_motion_control = True
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print(f" # Move backward.")
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elif value == 128 and self._agv_motion_control:
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self.agv_pro.stop()
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self._agv_motion_control = False
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print(f" # Stop moving.")
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@joystick.register(hotkey=Hotkey.RIGHT_X_AXIS)
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def RIGHT_Y_AXIS(self, value: int):
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if value < 128 and not self._agv_motion_control:
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self._agv_motion_control = True
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self.agv_pro.pan_left(self.agvHorizontalSpeed.value)
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print(f" # Pan left.")
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elif value > 128 and not self._agv_motion_control:
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self._agv_motion_control = True
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self.agv_pro.pan_right(self.agvHorizontalSpeed.value)
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print(f" # Pan right.")
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elif value == 128 and self._agv_motion_control:
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self._agv_motion_control = False
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print(f" # Stop panning.")
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self.agv_pro.stop()
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@joystick.register(hotkey=Hotkey.STARTUP, value_filter=lambda value: value == 0)
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def STARTUP(self, _):
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hs = self.agvHorizontalSpeed.reset()
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vs = self.agvVerticalSpeed.reset()
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rs = self.agvRotationSpeed.reset()
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print(f" # Speed reset {hs = :.2f} {vs = :.2f} {rs = :.2f}")
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if self.agv_pro.is_power_on() is False:
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print(f" # Abnormal power-off of AGVPRO has been detected, and it is trying to power on...")
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self.agv_pro.power_on()
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time.sleep(1)
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self.agv_pro.open_strip_light_diy_mode()
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self.agv_pro.set_strip_light_color([0, 1], (0, 255, 0), 255)
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else:
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self.agv_pro.stop()
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print(f" # Stop moving.")
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self.arm_controller.go_home()
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self.arm_controller.close_suction_pump()
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@joystick.register(hotkey=Hotkey.Y)
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def Y(self, value: int):
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print(f"{Hotkey.Y} {value}")
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if value == 1:
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print(f" # Open gripper.")
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self.arm_controller.open_gripper(1)
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else:
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self.arm_controller.stop()
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print(f" # Stop opening the gripper.")
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@joystick.register(hotkey=Hotkey.A)
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def A(self, value: int):
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if value == 1:
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print(f" # Close gripper.")
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self.arm_controller.close_gripper(1)
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else:
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self.arm_controller.stop()
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print(f" # Stop closing the gripper.")
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@joystick.register(hotkey=Hotkey.X, value_filter=lambda value: value == 0)
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def X(self, _: int):
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try:
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self.arm_controller.open_suction_pump()
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print(f"Open suction pump.")
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except NotImplementedError as e:
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print(e)
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@joystick.register(hotkey=Hotkey.B, value_filter=lambda value: value == 0)
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def B(self, _: int):
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try:
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self.arm_controller.close_suction_pump()
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print(f"Close suction pump.")
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except NotImplementedError as e:
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print(e)
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@joystick.register(hotkey=Hotkey.HORIZONTAL)
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def HORIZONTAL(self, value: int):
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if value == 1:
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print(f" # The end is rotated counterclockwise.")
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self.arm_controller.set_end_rotate(direction=-1, speed=1)
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elif value == -1:
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print(f" # The end is rotate clockwise.")
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self.arm_controller.set_end_rotate(direction=1, speed=1)
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else:
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print(" # Stop spinning.")
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self.arm_controller.stop()
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@joystick.register(hotkey=Hotkey.VERTICAL)
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def VERTICAL(self, value: int):
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if value == -1:
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print(f"axis z +.")
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self.arm_controller.coordinate(axis=3, direction=1)
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elif value == 1:
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print(f"axis Z -.")
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self.arm_controller.coordinate(axis=3, direction=0)
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else:
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print("axis z stop.")
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self.arm_controller.stop()
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@joystick.register(hotkey=Hotkey.LEFT_X_AXIS)
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def LEFT_X_AXIS(self, value: int):
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if value > 128 and not self._arm_motion_control:
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print(f"axis y -.") # Y+
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self.arm_controller.coordinate(axis=2, direction=0)
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self._arm_motion_control = True
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elif value < 128 and not self._arm_motion_control:
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print(f"axis y +.") # Y-
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self.arm_controller.coordinate(axis=2, direction=1)
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self._arm_motion_control = True
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elif value == 128 and self._arm_motion_control:
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self._arm_motion_control = False
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print(f"axis y stop.")
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self.arm_controller.stop()
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@joystick.register(hotkey=Hotkey.LEFT_Y_AXIS)
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def LEFT_Y_AXIS(self, value: int):
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if value < 128 and not self._arm_motion_control:
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print(f"axis x +.") # X+
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self.arm_controller.coordinate(axis=1, direction=1)
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self._arm_motion_control = True
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elif value > 128 and not self._arm_motion_control:
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print(f"axis x -.") # X-
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self.arm_controller.coordinate(axis=1, direction=0)
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self._arm_motion_control = True
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elif value == 128 and self._arm_motion_control:
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self._arm_motion_control = False
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print(f"axis x stop.")
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self.arm_controller.stop()
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def mainloop(self):
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self.joystick.run_with_loop()
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