Starting robot arm calibration (for micro-CPU devices)

1 Applicable devices

  • myCobot 280-Pi
  • myCobot 320-Pi
  • mechArm 270-Pi

2 Operation steps

  • Burn the latest version of atomMain for Atom.

  • Click \"Run program\".

  • Choose the baud rate corresponding to the device, and click Connect.

  • Set all joints of the robot arm to the zero positions, and click Start calibration.

  • When Calibration completed is shown on the screen, the calibration is finished.

3 Code contents

Notice: This code is rasp_mycobot_test_gui.py. You can download it via GitHub to view it.

Expand and view


```python

#!/usr/bin/env python3
import socket
import tkinter
from tkinter import ttk
import time
import threading
import os
import textwrap
import serial
import serial.tools.list_ports

from pymycobot.mycobot import MyCobot
from pymycobot import PI_PORT, PI_BAUD


LOG_NUM = 0


class MycobotTest(object):
    def __init__(self):
        self.mycobot = None

        self.win = tkinter.Tk()
        self.win.title("树莓派版 Mycobot 测试工具")
        self.win.geometry("918x511+10+10")  # 290 160为窗口大小,+10 +10 定义窗口弹出时的默认展示位置

        self.port_label = tkinter.Label(self.win, text="选择串口:")
        self.port_label.grid(row=0)
        self.port_list = ttk.Combobox(
            self.win, width=15, postcommand=self.get_serial_port_list
        )  # #创建下拉菜单
        self.get_serial_port_list()  # #给下拉菜单设定值
        self.port_list.current(0)
        self.port_list.grid(row=0, column=1)

        self.baud_label = tkinter.Label(self.win, text="选择波特率:")
        self.baud_label.grid(row=1)
        self.baud_list = ttk.Combobox(self.win, width=15)
        self.baud_list["value"] = ("115200", "1000000")
        self.baud_list.current(0)
        self.baud_list.grid(row=1, column=1)

        # Connect
        self.connect_label = tkinter.Label(self.win, text="连接mycobot:")
        self.connect_label.grid(row=2)
        self.connect = tkinter.Button(self.win, text="连接", command=self.connect_mycobot)
        self.disconnect = tkinter.Button(
            self.win, text="断开", command=self.disconnect_mycobot
        )
        self.connect.grid(row=3)
        self.disconnect.grid(row=3, column=1)

        # Check servo.
        self.check_label = tkinter.Label(self.win, text="检测连接:")
        self.check_label.grid(row=4)
        self.check_btn = tkinter.Button(
            self.win, text="开始检测", command=self.check_mycobot_servos
        )
        self.check_btn.grid(row=4, column=1)

        # Calibration.
        self.calibration_num = None
        self.calibration_label = tkinter.Label(self.win, text="校准舵机:")
        self.calibration_label.grid(row=5)
        self.calibration_btn = tkinter.Button(
            self.win, text="开始校准", command=self.calibration_mycobot
        )
        self.calibration_btn.grid(row=5, column=1)

        # LED.
        self.set_color_label = tkinter.Label(self.win, text="测试Atom灯板:")
        self.set_color_label.grid(row=6, columnspan=2)
        self.color_red = tkinter.Button(
            self.win, text="设置红色", command=lambda: self.send_color("red")
        )
        self.color_green = tkinter.Button(
            self.win, text="设置绿色", command=lambda: self.send_color("green")
        )
        self.color_red.grid(row=7)
        self.color_green.grid(row=7, column=1)

        # Aging test.
        self.aging_stop = False
        self.movement_label = tkinter.Label(self.win, text="老化循环动作:")
        self.movement_label.grid(row=8)
        self.start_btn = tkinter.Button(
            self.win, text="开始", command=self.start_aging_test
        )
        self.start_btn.grid(row=9)
        self.stop_btn = tkinter.Button(
            self.win, text="停止", command=self.stop_aging_test
        )
        self.stop_btn.grid(row=9, column=1)

        # Release
        self.release_btn = tkinter.Button(
            self.win, text="放松所有电机", command=self.release_mycobot
        )
        self.release_btn.grid(row=10)

        # rectify
        self.rectify_btn = tkinter.Button(
            self.win, text="校准pid", command=self.rectify_mycobot
        )
        self.rectify_btn.grid(row=10, column=1)

        # Log output.
        self.log_label = tkinter.Label(self.win, text="日志:")
        self.log_label.grid(row=0, column=12)
        _f = tkinter.Frame(self.win)
        _bar = tkinter.Scrollbar(_f, orient=tkinter.VERTICAL)
        self.log_data_Text = tkinter.Text(
            _f, width=100, height=35, yscrollcommand=_bar.set
        )
        _bar.pack(side=tkinter.RIGHT, fill=tkinter.Y)
        _bar.config(command=self.log_data_Text.yview)
        self.log_data_Text.pack()
        # self.log_data_Text.grid(row=1, column=12, rowspan=15, columnspan=10)
        _f.grid(row=1, column=12, rowspan=15, columnspan=10)

    def run(self):
        self.win.mainloop()  # run

    # ============================================================
    # Connect method
    # ============================================================
    def connect_mycobot(self):
        self.prot = port = self.port_list.get()
        if not port:
            self.write_log_to_Text("请选择串口")
            return
        self.baud = baud = self.baud_list.get()
        if not baud:
            self.write_log_to_Text("请选择波特率")
            return
        baud = int(baud)

        try:
            # self.mycobot = MyCobot(PI_PORT, PI_BAUD)
            self.mycobot = MyCobot(port, baud)
            # self.mycobot = MyCobot("/dev/cu.usbserial-0213245D", 115200)
            self.write_log_to_Text("连接成功 !")
        except Exception as e:
            err_log = """\
                \r连接失败 !!!
                \r=================================================
                {}
                \r=================================================
            """.format(
                e
            )
            self.write_log_to_Text(err_log)

    def disconnect_mycobot(self):
        if not self.has_mycobot():
            return

        try:
            del self.mycobot
            self.mycobot = None
            self.write_log_to_Text("断开连接成功 !")
        except AttributeError:
            self.write_log_to_Text("还没有连接mycobot!!!")

    # ============================================================
    #  Function method
    # ============================================================
    def release_mycobot(self):
        if not self.has_mycobot():
            return
        self.mycobot.release_all_servos()
        self.write_log_to_Text("Release over.")

    def check_mycobot_servos(self):
        if not self.has_mycobot():
            return

        ping_commands = [
            [255, 255, 1, 2, 1, 251],
            [255, 255, 2, 2, 1, 250],
            [255, 255, 3, 2, 1, 249],
            [255, 255, 4, 2, 1, 248],
            [255, 255, 5, 2, 1, 247],
            [255, 255, 6, 2, 1, 246],
            [255, 255, 7, 2, 1, 246],
        ]
        res = []
        for idx, command in enumerate(ping_commands, start=1):
            self.mycobot._write(command)
            time.sleep(0.1)
            if not self.mycobot._read():
                res.append(idx)
            time.sleep(0.1)

        if res:
            self.write_log_to_Text("关节 {} 无法通信!!!".format(res))
        else:
            self.write_log_to_Text("所有关节连接正常。")

    def calibration_mycobot(self):
        """Calibration button click event.
        Click to calibrate one motor at a time and calibrate in turn. After all
        calibration, resume initialization.
        """
        if not self.has_mycobot():
            return

        if not self.calibration_num:
            self.calibration_num = 0

        self.calibration_num += 1

        self.mycobot.set_servo_calibration(self.calibration_num)
        time.sleep(0.1)
        self.mycobot.send_angle(self.calibration_num, 0, 0)
        time.sleep(0.1)
        self.write_log_to_Text("校准电机 %s 结束." % self.calibration_num)

        if self.calibration_num == 6:
            self.write_log_to_Text("全部校准完成.")
            self.calibration_num = None
            self.rectify_mycobot()
            self._calibration_test()

    def send_color(self, color: str):
        if not self.has_mycobot():
            return

        color_dict = {
            "red": [255, 0, 0],
            "green": [0, 255, 0],
            "blue": [0, 0, 255],
        }
        self.mycobot.set_color(*color_dict[color])
        self.write_log_to_Text("发送颜色: {}.".format(color))

    def start_aging_test(self):
        if not self.has_mycobot():
            return

        self.aging_stop = False
        self.aging = threading.Thread(target=self._aging_test, daemon=True)
        self.aging.start()
        # self._aging_test()
        self.write_log_to_Text("开始循环老化测试 ...")

    def stop_aging_test(self):
        try:
            os.system("sudo systemctl stop aging_test.service")
            os.system("sudo rm /home/pi/aging_test.sh")
            os.system("sudo rm /home/pi/Desktop/aging_test.py")
            os.system("sudo rm /etc/systemd/system/aging_test.service")
            os.system("sudo systemctl daemon-reload")
            self.write_log_to_Text("结束循环老化测试.")
        except:
            self.write_log_to_Text("结束老化测试失败 !!!")

    def rectify_mycobot(self):
        if not self.has_mycobot():
            return

        for i in range(1, 7):
            self.mycobot.set_servo_data(i, 24, 0)
            time.sleep(0.1)
            self.mycobot.set_servo_data(i, 26, 3)
            time.sleep(0.1)
            self.mycobot.set_servo_data(i, 27, 3)
            time.sleep(0.1)
        time.sleep(0.1)
        for i in range(1, 7):
            self.write_log_to_Text(
                "Read servo {} pid data, 24:{}, 26:{}, 27:{}.".format(
                    i,
                    self.mycobot.get_servo_data(i, 24),
                    self.mycobot.get_servo_data(i, 26),
                    self.mycobot.get_servo_data(i, 27),
                )
            )
            time.sleep(0.1)

    # ============================================================
    # Utils method
    # ============================================================
    def has_mycobot(self):
        """Check whether it is connected on mycobot"""
        if not self.mycobot:
            self.write_log_to_Text("还没有连接mycobot!!!")
            return False
        return True

    def _aging_test(self):
        """
        Aging test thread target.
        By using in `start_aging_test()` and `stop_aging_test()`.
        """
        # if socket.gethostname() != "pi":
        #     self.write_log_to_Text("老化测试支持 Raspberry OS.")
        #     return

        aging_test_content_py = textwrap.dedent(
            """\
            #!/usr/bin/python3
            from pymycobot.mycobot import MyCobot
            from pymycobot import PI_PORT, PI_BAUD
            import time
            mycobot = MyCobot('%s', %s)
            def aging_test():
                # fast
                mycobot.set_color(255, 0, 0)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([170, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([-170, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 90, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, -90, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 140, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, -140, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 130, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, -110, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 165, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, -165, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 180], 95)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, -180], 95)
                # middle
                mycobot.set_color(0, 255, 0)
                mycobot.wait(3).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([170, 0, 0, 0, 0, 0], 55)
                mycobot.wait(6.5).send_angles([-170, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 90, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, -90, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 140, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, -140, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 130, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, -110, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 165, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, -165, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 180], 55)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, -180], 55)
                # slow
                mycobot.set_color(0, 0, 255)
                mycobot.wait(5).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([170, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([-170, 0, 0, 0, 0, 0], 15)
                mycobot.wait(11).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 90, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, -90, 0, 0, 0, 0], 15)
                mycobot.wait(0).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 140, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, -140, 0, 0, 0], 15)
                mycobot.wait(11).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 0, 130, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 0, -110, 0, 0], 15)
                mycobot.wait(11).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 0, 0, 165, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 0, 0, -165, 0], 15)
                mycobot.wait(11).send_angles([0, 0, 0, 0, 0, 0], 15)
                mycobot.wait(7).send_angles([0, 0, 0, 0, 0, 180], 15)
                mycobot.wait(7).send_angles([0, 0, 0, 0, 0, -180], 15)
            if __name__ == '__main__':
                while True:
                    aging_test()
            """
            % (self.prot, self.baud)
        )

        aging_test_content_sh = textwrap.dedent(
            """\
            #!/bin/bash
            /usr/bin/python3 /home/pi/Desktop/aging_test.py
            """
        )

        aging_test_content_service = textwrap.dedent(
            """\
            [Unit]
            Description=aging-test
            [Service]
            Type=forking
            User=pi
            Restart=on-failure
            RestartSec=2
            ExecStart=/home/pi/aging_test.sh
            [Install]
            WantedBy=multi-user.target
            """
        )

        os.system(
            'echo "' + aging_test_content_py + '" >> /home/pi/Desktop/aging_test.py'
        )
        os.system('echo "' + aging_test_content_sh + '" >> /home/pi/aging_test.sh')
        os.system("sudo chmod +x /home/pi/aging_test.sh")
        os.system(
            'echo "'
            + aging_test_content_service
            + '" >> /home/pi/Desktop/aging_test.service'
        )
        os.system(
            "sudo mv /home/pi/Desktop/aging_test.service /etc/systemd/system/aging_test.service"
        )
        os.system("sudo systemctl enable aging_test.service")
        os.system("sudo systemctl start aging_test.service")

    def _calibration_test(self):
        self.write_log_to_Text("开始测试校准.")
        angles = [0, 0, 0, 0, 0, 0]
        test_angle = [-20, 20, 0]
        for i in range(6):
            for j in range(3):
                angles[i] = test_angle[j]
                self.mycobot.send_angles(angles, 0)
                time.sleep(0.7)
        self.write_log_to_Text("测试校准结束.")

    def get_serial_port_list(self):
        plist = [
            str(x).split(" - ")[0].strip() for x in serial.tools.list_ports.comports()
        ]
        print(plist)
        self.port_list["value"] = plist
        return plist

    def get_current_time(self):
        """Get current time with format."""
        current_time = time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(time.time()))
        return current_time

    def write_log_to_Text(self, logmsg: str):
        global LOG_NUM
        current_time = self.get_current_time()
        logmsg_in = str(current_time) + " " + str(logmsg) + "\n"  # 换行

        if LOG_NUM 

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