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)