修改已知BUG

Author: hejianxin79

LinkerHand/config/L20_positions.yaml

@@ -1,71 +0,0 @@
-LEFT_HAND:
-- ACTION_NAME: 张开
-  POSITION:
-  - 96
-  - 255
-  - 255
-  - 255
-  - 255
-  - 150
-  - 114
-  - 151
-  - 189
-  - 255
-  - 180
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-
-RIGHT_HAND:
-- ACTION_NAME: 张开
-  POSITION:
-  - 96
-  - 255
-  - 255
-  - 255
-  - 255
-  - 150
-  - 114
-  - 151
-  - 189
-  - 255
-  - 180
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-  - 255
-
-- ACTION_NAME: 握拳
-  POSITION:
-  - 230
-  - 80
-  - 51
-  - 42
-  - 7
-  - 35
-  - 114
-  - 151
-  - 189
-  - 255
-  - 58
-  - 255
-  - 255
-  - 255
-  - 255
-  - 133
-  - 5
-  - 0
-  - 0
-  - 0
-

LinkerHand/config/setting.yaml

@@ -1,4 +1,4 @@
-VERSION: 2.1.4 # 支持新传感器
+VERSION: 2.1.7 # 支持新传感器
 LINKER_HAND:  # 手部配置信息
   LEFT_HAND:
     EXISTS: False # 是否存在左手

LinkerHand/core/can/__pycache__/linker_hand_l10_can.cpython-38.pyc

@@ -73,7 +73,7 @@ def init_can_bus(self, channel, baudrate):
         if sys.platform == "linux":
             return can.interface.Bus(channel=channel, interface="socketcan", bitrate=baudrate)
         elif sys.platform == "win32":
-            return can.interface.Bus(channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate)
+            return can.interface.Bus(channel=channel, interface='pcan', bitrate=baudrate)
         else:
             raise EnvironmentError("Unsupported platform for CAN interface")
 
@@ -256,9 +256,13 @@ def get_version(self):
         return self.version
     def get_current_status(self):
         '''Get current joint status'''
-        # self.send_frame(0x01,[],sleep=0.005)
-        # self.send_frame(0x04,[],sleep=0.005)
-        return self.x01 + self.x04
+        state = self.x01 + self.x04
+        if len(state) < 10:
+            self.send_frame(0x01,[],sleep=0.005)
+            self.send_frame(0x04,[],sleep=0.005)
+            time.sleep(0.001)
+            state = self.x01 + self.x04
+        return state
     def get_speed(self):
         '''Get current speed'''
         # self.send_frame(0x05,[],sleep=0.005)
@@ -308,6 +312,7 @@ def get_torque(self):
         self.send_frame(0x02, [])
         time.sleep(0.002)
         self.send_frame(0x03,[])
+        time.sleep(0.002)
         #self.set_max_torque_limits(pressures=[0.0], type="get")
         #time.sleep(0.001)
         return self.x02+self.x03
@@ -316,9 +321,16 @@ def get_fault(self):
         '''Get motor fault'''
         self.get_motor_fault_code()
         return self.x35+self.x36
+    
     def get_current(self):
         '''Get current'''
-        return [None]*10
+        self.send_frame(0x02, [])
+        time.sleep(0.002)
+        self.send_frame(0x03,[])
+        #self.set_max_torque_limits(pressures=[0.0], type="get")
+        #time.sleep(0.001)
+        return self.x02+self.x03
+
     def close_can_interface(self):
         """Stop the CAN communication."""
         self.running = False

LinkerHand/core/can/linker_hand_l10_can.py

@@ -65,7 +65,7 @@ def __init__(self, can_channel='can0', baudrate=1000000, can_id=0x28):
             )
         elif sys.platform == "win32":
             self.bus = can.interface.Bus(
-                channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate, 
+                channel=can_channel, interface='pcan', bitrate=baudrate, 
                 can_filters=[{"can_id": can_id, "can_mask": 0x7FF}]
             )
         else:

LinkerHand/core/can/linker_hand_l20_can.py

@@ -152,7 +152,7 @@ def __init__(self, can_channel='can0', baudrate=1000000, can_id=0x28):
             )
         elif sys.platform == "win32":
             self.bus = can.interface.Bus(
-                channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate, 
+                channel=can_channel, interface='pcan', bitrate=baudrate, 
                 can_filters=[{"can_id": can_id, "can_mask": 0x7FF}]
             )
         else:

LinkerHand/core/can/linker_hand_l21_can.py

@@ -126,7 +126,7 @@ def __init__(self, config, can_channel='can0', baudrate=1000000, can_id=0x28):
             )
         elif sys.platform == "win32":
             self.bus = can.interface.Bus(
-                channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate, 
+                channel=can_channel, interface='pcan', bitrate=baudrate, 
                 can_filters=[{"can_id": can_id, "can_mask": 0x7FF}]
             )
         else:

LinkerHand/core/can/linker_hand_l24_can.py

@@ -155,7 +155,7 @@ def __init__(self, can_channel='can0', baudrate=1000000, can_id=0x28):
             )
         elif sys.platform == "win32":
             self.bus = can.interface.Bus(
-                channel='PCAN_USBBUS1', interface='pcan', bitrate=baudrate, 
+                channel=can_channel, interface='pcan', bitrate=baudrate, 
                 can_filters=[{"can_id": can_id, "can_mask": 0x7FF}]
             )
         else: