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80 lines
2.4 KiB
Python
80 lines
2.4 KiB
Python
# 使用pyserial进行485的协议通信，端口指定为COM4
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import serial
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from serial.rs485 import RS485Settings
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import traceback
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from Consts import Config
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from FakeSerial import FakeSerial
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from base_types.PrPath import PR_PATH
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from Utils import run_commands
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from commands.PositionControl import create_position_commands, create_position_run_command, run_get_command_position, run_get_motor_position, run_set_forward_run
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from commands.Status import run_get_status, run_until_status
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from commands.Warning import run_elimate_warning
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from Grasp import EleGripper
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DEVICE_ADDRESS = Config.DEVICE_ADDRESS
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# 配置串口参数
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if Config.OPEN_DEVICE:
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ser = serial.Serial(
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port='COM11', # 串口号
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baudrate=38400, # 波特率
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bytesize=serial.EIGHTBITS, # 数据位
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parity=serial.PARITY_NONE, # 校验位 N-无校验
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stopbits=serial.STOPBITS_TWO, # 停止位
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timeout=1 # 超时时间
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)
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else:
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ser = FakeSerial()
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# RS485模式支持（如果需要）
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try:
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ser.rs485_mode = RS485Settings(
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rts_level_for_tx=True,
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rts_level_for_rx=False,
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# delay_before_tx=0.01,
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# delay_before_rx=0.01
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)
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except AttributeError:
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traceback.print_exc()
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print("RS485模式需要支持的硬件和pyserial版本")
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# run_set_position_zero(ser, DEVICE_ADDRESS)
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# api.get_running_state(ser, DEVICE_ADDRESS)
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gripper = EleGripper("COM12")
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gripper.init_gripper()
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gripper.wait_for_gripper_init()
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PR = 0
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run_get_status(ser, DEVICE_ADDRESS)
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run_elimate_warning(ser, DEVICE_ADDRESS)
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run_set_forward_run(ser, DEVICE_ADDRESS)
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run_commands(
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ser, 0.1,
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create_position_commands(DEVICE_ADDRESS, PR, PR_PATH.ABS_POS, 20 * 1000, 300), # 41.8cm 21.8cm
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create_position_run_command(DEVICE_ADDRESS, PR),
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)
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if run_until_status(ser, DEVICE_ADDRESS, "路径完成"):
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pass
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gripper.gripper_move(210,127,255)
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gripper.wait_for_gripper()
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gripper.rotate_move_abs(135,10,255)
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gripper.data_reader()
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print(gripper.rot_data)
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run_commands(
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ser, 0.1,
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create_position_commands(DEVICE_ADDRESS, PR, PR_PATH.ABS_POS, 30 * 1000, 300), # 41.8cm 21.8cm
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create_position_run_command(DEVICE_ADDRESS, PR),
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)
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gripper.gripper_move(210,127,255)
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gripper.wait_for_gripper()
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gripper.rotate_move_abs(135,10,255)
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gripper.data_reader()
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# run_get_command_position(ser, DEVICE_ADDRESS)
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# run_get_motor_position(ser, DEVICE_ADDRESS)
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# ser.close()
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