As title…
如何透過python寫一段讓Dobot走到設定的XYZ座標值，謝謝
import sys
from ctypes import *
import threading
import time
def PeriodicTask():
dll.PeriodicTask()
threading.Timer(0.5, PeriodicTask).start()
def GetPoseTask():
pose = Pose()
dll.GetPose(byref(pose))
#print ‘Pose:’, pose.x, pose.y, pose.z, pose.rHead, pose.joint1Angle, pose.joint2Angle, pose.joint3Angle, pose.joint4Angle
threading.Timer(0.5, GetPoseTask).start()
For initial pose
class InitialPose(Structure):
fields = [(“joint2Angle”, c_float), (“joint3Angle”, c_float)]
For pose
class Pose(Structure):
fields = [
(“x”, c_float),
(“y”, c_float),
(“z”, c_float),
(“rHead”, c_float),
(“joint1Angle”, c_float),
(“joint2Angle”, c_float),
(“joint3Angle”, c_float),
(“joint4Angle”, c_float),
(“isGrab”, c_byte),
(“gripper”, c_float)
]
For jog
class JogStaticParams(Structure):
fields = [
(“jointMaxVelocity”, c_float), (“jointMaxAcceleration”, c_float),
(“servoMaxVelocity”, c_float), (“servoMaxAcceleration”, c_float),
(“linearMaxVelocity”, c_float), (“linearMaxAcceleration”, c_float)
]
class JogDynamicParams(Structure):
fields = [(“velocityRatio”, c_float)]
class JogInstantCmd(Structure):
fields = [(“isJoint”, c_byte), (“cmd”, c_int)]
class PlaybackStaticParams(Structure):
fields = [
(“jointMaxVelocity”, c_float), (“jointMaxAcceleration”, c_float),
(“servoMaxVelocity”, c_float), (“servoMaxAcceleration”, c_float),
(“linearMaxVelocity”, c_float), (“linearMaxAcceleration”, c_float),
]
class PlaybackDynamicParams(Structure):
fields = [(“velocityRatio”, c_float), (“accelerationRatio”, c_float)]
class PlaybackBufferCmd(Structure):
fields = [
(“motionStyle”, c_byte), (“isGrab”, c_byte),
(“x”, c_float), (“y”, c_float), (“z”, c_float), (“rHead”, c_float),
(“gripper”, c_float), (“pauseTime”, c_float)
]
if name == “main”:
sys.path.append(sys.path[0])
dll = cdll.LoadLibrary(sys.path[0] + ‘//DobotDll.dll’);
PeriodicTask()
GetPoseTask()
errorString = [
'Success',
'Warning:Long arm angle not good!',
'Warning:Short arm angle not good!',
'Both long & short arm angle not good!',
'Error:Dobot not found!',
"Error:COM port occupied!",
"Error:No data uploaded!"
]
result = dll.ConnectDobot()
print errorString[result]
if (result < 4):
# Set command timeout
dll.SetCmdTimeout(3000)
# Set initial pose
'''
initialPose = InitialPose()
initialPose.joint2Angle = 45
initialPose.joint3Angle = 45
dll.SetInitialPose.argtypes = [POINTER(InitialPose)]
dll.SetInitialPose(byref(initialPose))
'''
pbsParam = PlaybackStaticParams()
pbsParam.jointMaxVelocity = 200
pbsParam.jointMaxAcceleration = 200
pbsParam.servoMaxVelocity = 200
pbsParam.servoMaxAcceleration = 200
pbsParam.linearMaxVelocity = 800
pbsParam.linearMaxAcceleration = 1000
pbsParam.pauseTime = 100
pbsParam.jumpHeight = 20
dll.SetPlaybackStaticParams(byref(pbsParam))
pbdParam = PlaybackDynamicParams()
pbdParam.velocityRatio = 30
pbdParam.accelerationRatio = 30
dll.SetPlaybackDynamicParams(byref(pbdParam))
dll.SetPlaybackBufferCmd.argtypes = [POINTER(PlaybackBufferCmd)]
playbackCmd = PlaybackBufferCmd()
playbackCmd.motionStyle = 0
playbackCmd.isGrab = 0
playbackCmd.gripper = 0
playbackCmd.rHead = 0
for i in range(10):
playbackCmd.x = 100 + i * 5
playbackCmd.y = 0
playbackCmd.z = 0
dll.SetPlaybackBufferCmd(byref(playbackCmd))
dll.DobotExec()