def __init__(self):
#ロボットアームの初期移動
self.robot_arm = b3mCtrl.B3mClass()
self.robot_arm.begin("/dev/ttyUSB0", 1500000)
self.now_angle = [0, 0, 0]
self.diff_angle = [-2.0, 2.0] #精度
self.idx = [2, 1, 3]
def __init__(self):
super().__init__()
self.initUI()
self.pos = [0] * 10
self.id = 1
self.aaa = b3mCtrl.B3mClass()
self.aaa.begin("/dev/ttyUSB0", 1500000)
print(self.aaa.setTrajectoryType(255, "EVEN"))
print(self.aaa.setMode(255, "POSITION"))
#!/usr/bin/env python
#coding: utf-8
import b3mCtrl
import time
if __name__ == '__main__':
aaa = b3mCtrl.B3mClass()
aaa.begin("/dev/ttyUSB0", 1500000)
#now_angle = [0,0,0]
now_angle = [0, 0, 0]
target_angle = [-5, -5, -5]
diff_angle = [-3, 3]
# idx= [2,1,3]
idx = [0]
for id in range(len(idx)):
print(aaa.setMode(idx[id], "FREE"))
time.sleep(0.01)
#print(aaa.setTrajectoryType(id,"EVEN"))
#print(aaa.setTrajectoryType(id,"NORMAL"))
print(aaa.setMode(idx[id], "SPEED"))
time.sleep(0.01)
hoge = aaa.setRam(idx[id], 0, "DesiredVelosity")
time.sleep(0.01)
hoge = aaa.setRam(idx[id], 0, "EncoderCount")
time.sleep(0.01)
print("read")
def __init__(self):
self.aaa = b3mCtrl.B3mClass()
self.aaa.begin("/dev/ttyUSB0", 1500000)
