from board import * from utils import * import time import cv2 import vision from pydobot import Dobot # 连接机械臂 global device device = Dobot(port='com6', verbose=False) time.sleep(0.5) device.speed(1) device._get_pose() # 位置初始化 device.go_init_pos() def text_objects(text, font): textSurface = font.render(text, True, black) return textSurface, textSurface.get_rect() def message_display(text, x, y, size): largeText = pygame.font.Font('freesansbold.ttf', size) TextSurf, TextRect = text_objects(text, largeText) TextRect.center = (x, y) screen.blit(TextSurf, TextRect) pygame.display.update()
from glob import glob from pydobot import Dobot from mypack.myglob import board_list print(board_list) # available_ports = glob('com6') # mask for OSX Dobot port # print(available_ports) # if len(available_ports) == 0: # print('no port found for Dobot Magician') # exit(1) device = Dobot(port='com6', verbose=False) time.sleep(0.5) device.speed(1) alist = device._get_pose() print("alist:", alist) a = 99 device.go(250.0, 0.0, 130.0) while 1: a = input("input act:") # 001 move test # device.go(250.0, 0.0, 100.0) # rsp = device.go(250.0, 0.0, 130.0) if int(a) == 1: device.speed(1) device.go(250.0, 0.0, 100)