147 lines
4.5 KiB
Python
147 lines
4.5 KiB
Python
import time
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import keyboard
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from demo_auto_grasp import TactileSensorDAQ, RobotDriver, SafetyGuard
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# ====== 可按实际机构方向微调的参数 ======
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SERVO_HOME_ANGLE = 90
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SERVO_CW_TO_OPPOSE_ANGLE = 120
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SERVO_HOLD_SEC = 1.0
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FORCE_STOP_THRESHOLD = 0.3
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PRESSURE_DISPLAY_KPA = 80
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ROBOT_COM_PORT = 'COM9'
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def wait_with_pause(safety, duration_s, step_s=0.02):
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start = time.time()
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while (time.time() - start) < duration_s:
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safety.check_pause()
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time.sleep(step_s)
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def run_servo_single_cycle(robot, safety, servo_id):
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print(f"[Mode {servo_id}] 舵机{servo_id}开始: 手指1顺时针到对握位 -> 回位")
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safety.check_pause()
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# 仅发送指定舵机命令，其他舵机不动作
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robot.set_servo(servo_id, SERVO_CW_TO_OPPOSE_ANGLE)
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wait_with_pause(safety, SERVO_HOLD_SEC)
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safety.check_pause()
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robot.set_servo(servo_id, SERVO_HOME_ANGLE)
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wait_with_pause(safety, 0.5)
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# 明确停止直线电机，确保其不动作
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robot.motor_stop()
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print(f"[Mode {servo_id}] 完成。")
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def run_linear_mode(robot, safety):
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print("[Mode 3] 直线电机控制模式 (无传感器)")
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print("按键: w=张开, s=闭合, q=退出模式")
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print("规则: 无传感器，按住s持续闭合")
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print("全局: 空格急停/恢复")
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motion_state = 'idle' # idle/open/close/force_stop
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prev_q = False
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linear_start_time = None
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def print_runtime(final=False):
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if linear_start_time is None:
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return
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elapsed = time.time() - linear_start_time
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if final:
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print(f"[Mode 3] s执行总时长: {elapsed:.2f}s")
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while True:
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safety.check_pause()
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w_now = keyboard.is_pressed('w')
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s_now = keyboard.is_pressed('s')
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q_now = keyboard.is_pressed('q')
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q_edge = q_now and not prev_q
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if q_edge:
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robot.motor_stop()
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print_runtime(final=True)
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linear_start_time = None
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print("[Mode 3] 退出直线电机控制模式")
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break
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# 仅允许单键控制: w 和 s 同时按下时停止，防止方向冲突
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if w_now and not s_now:
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if motion_state != 'open':
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robot.motor_open()
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motion_state = 'open'
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print("[Mode 3] 张开中 (按住 w)")
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elif s_now and not w_now:
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if linear_start_time is None:
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linear_start_time = time.time()
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if motion_state != 'close':
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robot.motor_close()
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motion_state = 'close'
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print("[Mode 3] 闭合中 (按住 s)")
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else:
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if motion_state in ('open', 'close', 'force_stop'):
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robot.motor_stop()
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print_runtime(final=True)
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motion_state = 'idle'
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print("[Mode 3] 松开按键, 电机停止")
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linear_start_time = None
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prev_q = q_now
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time.sleep(0.02)
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def main():
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# sensor = TactileSensorDAQ()
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robot = RobotDriver(port=ROBOT_COM_PORT)
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safety = SafetyGuard(robot)
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try:
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# sensor.start()
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# print("等待传感器稳定...")
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# time.sleep(2)
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# sensor.tare()
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while True:
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print("\n========================")
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print("自由度控制选择:")
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print(" 1: 舵机1控制 (手指1顺时针到对握后回位)")
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print(" 2: 舵机2控制 (手指1顺时针到对握后回位)")
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print(f" 3: 直线电机控制 (w张开/s闭合, 压强显示固定为 {PRESSURE_DISPLAY_KPA}KPa)")
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print(" q: 退出程序")
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print("全局: 空格急停/恢复")
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choice = input("请输入 1/2/3/q: ").strip().lower()
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if choice == '1':
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run_servo_single_cycle(robot, safety, servo_id=1)
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elif choice == '2':
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run_servo_single_cycle(robot, safety, servo_id=2)
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elif choice == '3':
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run_linear_mode(robot, safety)
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elif choice == 'q':
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break
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else:
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print("输入无效，请重新输入。")
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except KeyboardInterrupt:
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pass
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finally:
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robot.motor_stop()
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robot.close()
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# sensor.stop()
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try:
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keyboard.unhook_all()
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except Exception:
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pass
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print("System All Shutdown.")
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if __name__ == '__main__':
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main()
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