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roh_with_rm65_test.py
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from robotic_arm_package.robotic_arm import *
from roh_registers import *
ARM_IP = "192.168.1.18"
COM_PORT = 1
ROH_ADDR = 2
def L_BYTE(v):
return v & 0xFF
def H_BYTE(v):
return (v >> 8) & 0xFF
robot = Arm(RM65, ARM_IP)
if __name__ == "__main__":
joint0 = [0, 0, 0, 0, 0, 0]
joint1 = [150.760, -64.495, -105.606, 163.92, -83.519, -142.282]
joint2 = [161.357, -88.091, -63.051, 151.644, -61.901, -132.859]
joint3 = [81.323, -18.067, -40.871, 154.945, 35.793, -128.350]
joint4 = [0, 0, 0, 0, 0, 0]
joint5 = [0, 0, 0, 0, 0, 0]
counter = 0
while counter < 10:
robot.Close_Modbustcp_Mode()
robot.Set_Modbus_Mode(1, 115200, 1, True)
robot.Write_Registers(
COM_PORT,
ROH_FINGER_POS_TARGET0,
6,
[
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
],
ROH_ADDR,
True,
) # 后两位是大拇指旋转 #前两位大拇指弯曲
ret = robot.Movej_Cmd(joint0, 30, 0, True)
time.sleep(2)
robot.Write_Registers(
COM_PORT,
ROH_FINGER_POS_TARGET0,
6,
[
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(65535),
L_BYTE(65535),
],
ROH_ADDR,
True,
)
time.sleep(1)
ret = robot.Movej_Cmd(joint1, 10, 0, True)
time.sleep(2)
ret = robot.Movej_Cmd(joint2, 10, 0, True)
time.sleep(2)
robot.Write_Registers(
COM_PORT,
ROH_FINGER_POS_TARGET0,
6,
[
H_BYTE(32000),
L_BYTE(32000),
H_BYTE(32000),
L_BYTE(32000),
H_BYTE(35000),
L_BYTE(35000),
H_BYTE(65535),
L_BYTE(65535),
H_BYTE(65535),
L_BYTE(65535),
H_BYTE(65535),
L_BYTE(65535),
],
ROH_ADDR,
True,
)
time.sleep(2)
# ret = robot.Movej_Cmd(joint1, 10, 0, True)
# time.sleep(2)
ret = robot.Movej_Cmd(joint3, 10, 0, True)
time.sleep(2)
robot.Write_Registers(
COM_PORT,
ROH_FINGER_POS_TARGET0,
6,
[
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(0),
L_BYTE(0),
H_BYTE(65535),
L_BYTE(65535),
],
ROH_ADDR,
True,
)
time.sleep(2)
ret = robot.Movej_Cmd(joint1, 10, 0, True)
time.sleep(2)
counter += 1
print("已运行：", counter, "次")
# if counter == 5:
# sys.exit() # 立即停止程序，返回状态码 0