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robot_console.py
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class robot_console(object):
# serial port
ser = ''
# table1 default(by arduino)
# motor default order
table1 = [['A', '50', 0],
['B', '140', 1],
['F', '55', 3],
['C', '80'],
['G', '20']]
table2 = [['A', '50', 2],
['B', '140', 1],
['F', '55', 0],
['C', '80'],
['G', '20']]
def __init__(self):
print('Initialising...')
try:
self.ser = self.list_ports()
print('Initialised')
return
except:
print('Initialise - Failed')
self.ser.close()
def list_ports(self):
import serial.tools.list_ports
print('============== Available COM Ports ==============')
ports = []
for n, (port, desc, hwid) in enumerate(sorted(serial.tools.list_ports.comports()), 1):
print('--- {:2}: {:20} {}\n'.format(n, port, desc))
ports.append(port)
while True:
port = input('--- Enter port index or full name: ')
try:
index = int(port) - 1
if not 0 <= index < len(ports): # the port doesn't exist
print('--- Invalid index!\n')
continue
except ValueError:
print('invalid value')
pass
else:
port = ports[index]
print(port)
ser = serial.Serial(port, 9600, timeout=1)
return ser
def aihuan_algrithm(self, dir_obj):
x = dir_obj[0]
y = dir_obj[1]
z = dir_obj[2]
# 转到一定角度后 此时的侧面坐标
import numpy as np
import math
# a1:第一个杆的长度 ； a2:第二个杆的长度
a1 = 12
a2 = 26 # 含爪子长度
h = 12 # 底座高度
level = 55
# 得水平转动到的角度
tan_angle = abs(x) / abs(y)
# 水平归位为55度或者80度
if y != 0:
tan_angle = abs(x) / abs(y)
# 水平归位为55度或者80度
if x < 0:
angle = (level / 180 * math.pi + math.atan(tan_angle)) * 180 / math.pi
else:
angle = (level / 180 * math.pi - math.atan(tan_angle)) * 180 / math.pi
elif x > 0:
angle = (level / 180 * math.pi - math.pi / 2) * 180 / math.pi
else:
angle = (level / 180 * math.pi + math.pi / 2) * 180 / math.pi
s = math.sqrt(x * x + y * y) # 新二维平面（侧面）的X轴位置坐标
if z >= h:
# angleA = (35 / 180 * math.pi - (angleB - theta1)) * 180 / math.pi
tan_alpha1 = abs(z - h) / abs(s)
alpha1 = math.atan(tan_alpha1)
cos_alpha2 = (a1 * a1 + (s * s + (h - z) * (h - z)) - a2 * a2) / (
2 * a1 * math.sqrt((h - z) * (h - z) + s * s))
alpha2 = math.acos(cos_alpha2)
theta1 = math.pi - (alpha1 + alpha2)
angleB = (alpha1 + alpha2) * 180 / math.pi
cos_anti_theta2 = (a1 * a1 + a2 * a2 - (s * s + (h - z) * (h - z))) / (2 * a1 * a2)
theta2 = math.pi - math.acos(cos_anti_theta2)
angleA = (35 / 180 * math.pi - (math.pi - (theta1 + theta2))) * 180 / math.pi
else:
# angleA = (35 / 180 * math.pi - (theta1 - angleB)) * 180 / math.pi
tan_alpha1 = abs(s) / abs(z)
alpha1 = math.atan(tan_alpha1)
tan_beta1 = abs(s) / abs(h - z)
beta1 = math.atan(tan_beta1)
cos_beta2 = (a1 * a1 + (s * s + (h - z) * (h - z)) - a2 * a2) / (
2 * a1 * math.sqrt((h - z) * (h - z) + s * s))
print(cos_beta2)
beta2 = math.acos(cos_beta2)
theta1 = math.pi - beta1 - beta2
angleB = (math.pi / 2 - theta1) * 180 / math.pi
cos_anti_theta2 = (a1 * a1 + a2 * a2 - (s * s + (h - z) * (h - z))) / (2 * a1 * a2)
theta2 = math.pi - math.acos(cos_anti_theta2)
angleA = (35 / 180 * math.pi + theta1 + theta2 - math.pi / 2) * 180 / math.pi
F = int(angle)
B = int(angleB)
A = int(angleA)
self.table2[0][1] = str(A)
self.table2[1][1] = str(B)
self.table2[2][1] = str(F)
def get_degree(self):
command = 'SHOW DEGREE'
self.ser.write(command.encode())
s = self.ser.readlines(40)
st = s[1].decode('utf-8')
'A 0 B 0 C 0 D 0 E 0 F 0 G 0'
angle_degree = st.split()
print(angle_degree)
self.table1[0][1] = str(angle_degree[1])
self.table1[1][1] = str(angle_degree[3])
self.table1[3][1] = str(angle_degree[5])
self.table1[2][1] = str(angle_degree[11])
self.table1[4][1] = str(angle_degree[13])
def execute(self, command_table):
# import time
for command in command_table:
self.ser.write(command.encode())
s = self.ser.readlines(40)
if type(s) == str:
print('\t' + s.decode('utf-8'))
else:
for i in range(len(s)):
print('\t' + s[i].decode('utf-8'))
def reset_table(self):
reset_table = []
for i in [0, 1, 2]:
reset_table.append('SET' + ' ' + self.table1[i][0] + ' ' + self.table1[i][1])
def move_table(self, dir_obj, speed=5):
self.aihuan_algrithm(dir_obj)
self.get_degree()
print(self.table1)
print(self.table2)
if self.table1 == self.table2:
return
# motor +/- degree
table_ = [['A', 'ADD', '0'],
['B', 'ADD', '0'],
['F', 'ADD', '0']]
for i in [0, 1, 2]:
if int(self.table1[i][1]) > int(self.table2[i][1]):
table_[i][1] = 'MINUS'
table_[i][2] = str(int(self.table1[i][1])-int(self.table2[i][1]))
elif int(self.table1[i][1]) < int(self.table2[i][1]):
table_[i][1] = 'ADD'
table_[i][2] = str(int(self.table2[i][1])-int(self.table1[i][1]))
else:
pass
move_table = []
for i in [0, 1, 2]:
for k in [0, 1, 2]:
if self.table2[k][2] == i:
break
if table_[k][2] == '0':
continue
num__ = int(table_[k][2])
step__ = (num__ + speed - 1) // speed
for j in list(range(step__)):
if speed * (j + 1) < num__:
cur_num_ = speed
else:
cur_num_ = num__ - speed*j
move_table.append(table_[k][1] + ' ' + table_[k][0] + ' ' + str(cur_num_))
return move_table
def claw_table(self, angle=90, os='CLOSE', degree=0):
self.get_degree()
claw_table = []
if self.table1[3][1] != angle:
claw_table.append('SET C' + ' ' + str(angle))
self.table1[3][1] = angle
if os == 'OPEN':
if self.table1[4][1] != 0:
claw_table.append('SET G 0')
self.table1[4][1] = 0
elif os == 'CLOSE':
if self.table1[4][1] != 58:
claw_table.append('SET G 58')
self.table1[4][1] = 58
elif os == 'DIY':
if self.table1[4][1] != degree:
claw_table.append('SET G' + ' ' + str(degree))
self.table1[4][1] = degree
return claw_table
def arm_up_table(self, speed=5, angle_A=35, angle_B=90):
try:
self.get_degree()
# motor +/- degree
table_ = [['A', 'ADD', '0'],
['B', 'ADD', '0'],
['F', 'ADD', '0']]
table3 = [['A', str(angle_A), 1],
['B', str(angle_B), 0]]
for i in [0, 1]:
if int(self.table1[i][1]) > int(table3[i][1]):
table_[i][1] = 'MINUS'
table_[i][2] = str(int(self.table1[i][1]) - int(table3[i][1]))
elif int(self.table1[i][1]) < int(table3[i][1]):
table_[i][1] = 'ADD'
table_[i][2] = str(int(table3[i][1]) - int(self.table1[i][1]))
else:
pass
arm_up_table = []
for i in [0, 1]:
for k in [0, 1]:
if table3[k][2] == i:
break
if table_[k][2] == '0':
continue
num__ = int(table_[k][2])
step__ = (num__ + speed - 1) // speed
for j in list(range(step__)):
if speed * (j + 1) < num__:
cur_num_ = speed
else:
cur_num_ = num__ - speed * j
arm_up_table.append(table_[k][1] + ' ' + table_[k][0] + ' ' + str(cur_num_))
return arm_up_table
except:
return
def do_pick(self, dir_obj, angle=90, speed=5):
command_table1 = self.arm_up_table(speed)
if command_table1:
self.execute(command_table1)
# time.sleep(1)
command_table2 = self.move_table(dir_obj, speed)
if command_table2:
self.execute(command_table2)
# time.sleep(1)
command_table3 = self.claw_table(angle)
if command_table3:
self.execute(command_table3)
def do_place(self, dir_destination, speed=5):
command_table1 = self.arm_up_table(speed)
if command_table1:
self.execute(command_table1)
# time.sleep(1)
command_table2 = self.move_table(dir_destination, speed)
if command_table2:
self.execute(command_table2)
# time.sleep(1)
command_table3 = self.claw_table(90, 'OPEN')
if command_table3:
self.execute(command_table3)
def place_instrument(self, instrument):
'''
在已经成功抓取目标后，根据工具类型，将其放置到对应方位
:param instrument: str 工具类型
:return:
'''
# todo 根据实际空间完善放置代码
if instrument == 'knife':
self.do_place([-25, 14, 5])
if instrument == 'fork':
self.do_place([-25, 19, 5])
if instrument == 'spoon':
self.do_place([-25, 9, 5])
def pick_instrument(self, instrument):
'''
根据工具类型，从对应方位抓取工具并移动机械臂至最左侧合适方位
:param instument:
:return:
'''
# todo 根据实际空间完善放置代码
import time
if instrument == 'knife':
self.do_pick([-25, 14, 0.3])
if instrument == 'fork':
self.do_pick([-25, 19, 0.3])
if instrument == 'spoon':
self.do_pick([-25, 9, 0.3])
time.sleep(0.5)
if instrument == 'knife':
self.do_place([20, 25, 5])
if instrument == 'fork':
self.do_place([20, 25, 5])
if instrument == 'spoon':
self.do_place([20, 25, 5])
def to_xyz(self, dir_obj, speed=5):
# dir_obj = [x,y,z]
self.execute(self.move_table(dir_obj, speed))
def claw_close(self, angle=0):
self.execute(self.claw_table(angle))
def claw_open(self, angle=0):
self.execute(self.claw_table(angle, 'OPEN'))