Remote control robot arm case

The examples are based on the exoskeleton_api.py file

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1 Serial communication

# example
from exoskeleton_api import Exoskeleton

# Connect the serial port
obj = Exoskeleton(port="COM5")

# Get dual-arm data
all_data = obj.get_all_data()
print(all_data)

# Get left arm data
left_data = obj.get_arm_data(1)
print(left_data)

# Get right arm data
right_data = obj.get_arm_data(2)
print(right_data)

# Obtain single arm and single joint data
joint_data = obj.get_joint_data(1, 1)
print(joint_data)

# Set the current position to zero on right arm J7
obj.set_zero(2, 7)

# Set the left arm atom screen color
obj.set_color(1, 0, 255, 0)

2 socket communication

# example
from exoskeleton_api import ExoskeletonSocket

# Connection server
obj = ExoskeletonSocket()

# Get dual-arm data
all_data = obj.get_all_data()
print(all_data)

# Get left arm data
left_data = obj.get_arm_data(1)
print(left_data)

# Get right arm data
right_data = obj.get_arm_data(2)
print(right_data)

# Obtain single arm and single joint data
joint_data = obj.get_joint_data(1, 1)
print(joint_data)

# Set the current position to zero on right arm J7
obj.set_zero(2, 7)

# Set the left arm atom screen color
obj.set_color(1, 0, 255, 0)

3 mercury X1(7 axes)

pymycobot version 3.5.0b66 (and above)

Dual-arm cooperative control

import threading
from pymycobot import Mercury
from exoskeleton_api import exoskeleton

obj = exoskeleton(port="/dev/ttyACM4")
ml = Mercury("/dev/left_arm")
mr = Mercury("/dev/right_arm")

# Set both arms to speed fusion mode
ml.set_movement_type(2)
mr.set_movement_type(2)
# Set the jaw operation mode
ml.set_gripper_mode(0)
mr.set_gripper_mode(0)


#0 left arm, 1 right arm
def control_arm(arm):
    while True:
        if arm == 0:
            arm_data = obj.get_data(0)
            print("l: ", arm_data)
            mc = ml
        elif arm == 1:
            arm_data = obj.get_data(1)
            print("r: ", arm_data)
            mc = mr
        else:
            raise ValueError("error arm")
        # Due to the different configurations of each joint steering, zero point and part of the robot arm of the exoskeleton, the mapping relationship is set here (according to the actual steering and position setting of each joint).
        mercury_list = [
            arm_data[0], -arm_data[1], arm_data[2], -arm_data[3], arm_data[4],
            135 + arm_data[5], arm_data[6]
        ]
        # Press the button to control the opening and closing of the claw
        if arm_data[7] == 0:
            mc.set_gripper_state(1, 100)  
        elif arm_data[8] == 0:
            mc.set_gripper_state(0, 100)
        mc.send_angles(mercury_list, 6)


# Left arm
threading.Thread(target=control_arm, args=(0, )).start()
# Right arm
threading.Thread(target=control_arm, args=(1, )).start()

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