280Arduino 手柄遥控案例

功能说明：使用游戏手柄控制机器人进行坐标运动和夹爪开合

1 夹爪安装

将乐高连接件插入夹爪预留的插孔中

将插好连接件的夹爪对准机械臂末端插孔插入

将延长线与夹爪连接

插入机械臂控制接口

2 夹爪测试

from pymycobot import MyCobot280,utils
import time
arm=MyCobot280(utils.get_port_list()[0], 1000000)
for i in range(2):
    arm.set_gripper_state(1,100)#夹爪夹紧
    time.sleep(1)
    arm.set_gripper_state(0,100)#夹爪张开
    time.sleep(1)

3 手柄功能说明

注意：手柄需要单独购买，详情请咨询官方客服

将手柄的接收器插到电脑上

注意事项：部分手柄按键并未使用到，因此不会对机械臂产生任何效果；更加具体的按键使用请查看 手柄控制使用

4 手柄依赖库安装

打开终端，输入下面命令，进行手柄驱动库安装

pip install pygame

5 准备工作

在接入12V电源前，可手动将机械臂调成下图零位姿态，然后在进入12V电源和通信数据线，机械臂周围不要有杂物，避免发生碰撞

将手柄的开关打开

注意手柄的MODE LED有没有亮

注意：只有MODE LED亮灯，才可以控制机械臂，如果手柄长时间不使用会进入待机状态，可以按一下手柄的START按键进行激活

6 案例程序

# coding:utf-8
import pygame
import sys
import time
from pymycobot import MyCobot280
import platform
import threading

if "linux" in platform.platform().lower():
    import RPi.GPIO as GPIO

    # Set GPIO mode
    GPIO.setmode(GPIO.BCM)
    # Set pin 20 (electromagnetic valve) and pin 21 (release valve) as output
    GPIO.setup(20, GPIO.OUT)
    GPIO.setup(21, GPIO.OUT)

# Initialize MyCobot280 with serial port and baud rate
mc = MyCobot280('com3', 1000000)

init_angles = [0, 0, -90, 0, 0, 0]
go_home = [0, 0, 0, 0, 0, 0]

# Initialize Pygame and joystick modules
pygame.init()
pygame.joystick.init()
button_pressed = False
hat_pressed = False
previous_state = [0, 0, 0, 0, 0, 0]


# Function to turn on the vacuum pump (electromagnetic valve)
def pump_on():
    # 打开电磁阀
    if platform.system() == "Linux":
        GPIO.output(20, 0)
    elif platform.system() == "Windows":
        mc.set_digital_output(33, 0)
        time.sleep(0.05)


# Function to turn off the vacuum pump (close electromagnetic valve and open release)
def pump_off():
    if platform.system() == "Linux":
        # Close valve
        GPIO.output(20, 1)
        time.sleep(0.05)
        # Open release valve
        GPIO.output(21, 0)
        time.sleep(1)
        GPIO.output(21, 1)
        time.sleep(0.05)
    elif platform.system() == "Windows":
        mc.set_digital_output(33, 1)
        time.sleep(0.05)
        mc.set_digital_output(23, 0)
        time.sleep(1)
        mc.set_digital_output(23, 1)
        time.sleep(0.05)


# Function to safely stop the robot (used in a thread)
def safe_stop():
    try:
        mc.stop()
        time.sleep(0.02)
    except Exception as e:
        print("stop 出错：", e)
        previous_state[axis] = 0


# Handler for joystick input events
def joy_handler():
    global button_pressed
    global hat_pressed
    global previous_state
    # Joystick axis movement (analog stick)
    if event.type == pygame.JOYAXISMOTION:
        axis = event.axis
        value = round(event.value, 2)
        if abs(value) > 0.1:
            flag = True
            previous_state[axis] = value
            # jog_coord(index, direction, speed)
            # direction: 0 = negative direction, 1 = positive direction
            if axis == 0 and value == -1.00:
                mc.jog_coord(2, 1, 50)
            elif axis == 0 and value == 1.00:
                mc.jog_coord(2, 0, 50)
            if axis == 1 and value == 1.00:
                mc.jog_coord(1, 0, 50)
            elif axis == 1 and value == -1.00:
                mc.jog_coord(1, 1, 50)
            if axis == 3 and value == 1.00:
                mc.jog_coord(6, 1, 50)
            elif axis == 3 and value == -1.00:
                mc.jog_coord(6, 0, 50)
            if axis == 4 and value == 1.00:
                mc.jog_coord(3, 0, 50)
            elif axis == 4 and value == -1.00:
                mc.jog_coord(3, 1, 50)
            # Axis 2 for servo release
            elif axis == 2 and value == 1.00:
                mc.release_all_servos()
                time.sleep(0.03)
            # Axis 5 to power on
            elif axis == 5 and value == 1.00:
                mc.power_on()
                time.sleep(0.03)
        else:
            if previous_state[axis] != 0:
                # mc.stop()
                threading.Thread(target=safe_stop).start()
                previous_state[axis] = 0
    # Joystick button pressed
    elif event.type == pygame.JOYBUTTONDOWN:
        if joystick.get_button(2) == 1:
            mc.set_gripper_state(0, 100)
        elif joystick.get_button(3) == 1:
            mc.set_gripper_state(1, 100)
        elif joystick.get_button(0) == 1:
            pump_on()
        elif joystick.get_button(1) == 1:
            pump_off()
        elif joystick.get_button(5) == 1:
            mc.send_angles(init_angles, 50)
            time.sleep(2)
        elif joystick.get_button(4) == 1:
            mc.send_angles(go_home, 50)
            time.sleep(3)
    # D-Pad (HAT) movement
    elif event.type == pygame.JOYHATMOTION:
        hat_value = joystick.get_hat(0)
        if hat_value == (0, -1):
            mc.jog_coord(4, 0, 50)
        elif hat_value == (0, 1):
            mc.jog_coord(4, 1, 50)
        elif hat_value == (-1, 0):
            mc.jog_coord(5, 0, 50)
        elif hat_value == (1, 0):
            mc.jog_coord(5, 1, 50)
        if hat_value != (0, 0):
            hat_pressed = True
        else:
            if hat_pressed:
                # mc.stop()
                threading.Thread(target=safe_stop).start()
                hat_pressed = False


# Initialize joystick if detected
if pygame.joystick.get_count() > 0:
    joystick = pygame.joystick.Joystick(0)
    joystick.init()
else:
    print("没有检测到手柄")
    pygame.quit()
    sys.exit()
# Main loop to process events
running = True
while running:
    for event in pygame.event.get():
        if event.type == pygame.QUIT:
            running = False
        joy_handler()
pygame.quit()

7 效果展示