From 3df6e7cdacfc199031c0f43a3bed2e981b62bc08 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Mon, 23 Dec 2024 16:28:14 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8Dpython=E8=BF=90=E5=8A=A8?=
=?UTF-8?q?=E6=A1=88=E4=BE=8B=E3=80=81=E6=9B=B4=E6=96=B0=E5=85=B3=E8=8A=82?=
=?UTF-8?q?=E9=99=90=E4=BD=8D=E4=BF=A1=E6=81=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
.../10.1_320_PI-ApplicationPython/2_API.md | 10 +-
.../6_example.md | 112 +++++++++++++++-
.../5_example.md | 120 +++++++++++++++++-
3 files changed, 235 insertions(+), 7 deletions(-)
diff --git a/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md b/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md
index 22b12cb..5bf964a 100644
--- a/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md
+++ b/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md
@@ -170,23 +170,23 @@ mc.send_angle(1, 40, 20)
</tr>
<tr>
<td style="text-align: center;">1</td>
- <td>-170 ~ 170</td>
+ <td>-168 ~ 168</td>
</tr>
<tr>
<td style="text-align: center;">2</td>
- <td>-137 ~ 137</td>
+ <td>-135 ~ 135</td>
</tr>
<tr>
<td style="text-align: center;">3</td>
- <td>-151 ~ 142</td>
+ <td>-145 ~ 145</td>
</tr>
<tr>
<td style="text-align: center;">4</td>
- <td>-148 ~ 184</td>
+ <td>-148 ~ 148</td>
</tr>
<tr>
<td style="text-align: center;">5</td>
- <td>-169 ~ 169</td>
+ <td>-168 ~ 168</td>
</tr>
<tr>
<td style="text-align: center;">6</td>
diff --git a/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md b/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md
index 654a05d..1177355 100644
--- a/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md
+++ b/10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md
@@ -200,7 +200,117 @@ mc.send_coord(1, 100, 70)
```
-## 6 Controlling Gripper
+## 6 Control the robot arm to swing left and right
+
+```python
+from pymycobot.mycobot320 import MyCobot320
+
+import time
+# Initialize a MyCobot320 object
+
+mc = MyCobot320("/dev/ttyAMA0", 115200)
+# Get the coordinates of the current position
+angle_datas = mc.get_angles()
+print(angle_datas)
+
+# Use a sequence to pass the coordinate parameters and let the robot move to the specified position
+mc.send_angles([0, 0, 0, 0, 0, 0], 50)
+print(mc.is_paused())
+# Set the waiting time to ensure that the robot has reached the specified position
+# while not mc.is_paused():
+time.sleep(2.5)
+
+# Move joint 1 to the position of 90
+mc.send_angle(1, 90, 50)
+
+# Set the waiting time to ensure that the robot has reached the specified position
+time.sleep(2)
+
+# Set the number of loops
+num = 5
+
+# Let the robot swing left and right
+while num > 0:
+ # Move joint 2 to position 50
+ mc.send_angle(2, 50, 50)
+ # Set the waiting time to ensure that the robot has reached the specified position
+ time.sleep(1.5)
+ # Move joint 2 to position -50
+ mc.send_angle(2, -50, 50)
+ # Set the waiting time to ensure that the robot has reached the specified position
+ time.sleep(1.5)
+ num -= 1
+# Retract the robot. You can manually swing the robot, and then use the get_angles() function to get the coordinate sequence,
+# Use this function to make the robot reach the position you want.
+mc.send_angles([88.68, -135, 145, -128.05, -9.93, -15.29], 50)
+
+# Set the waiting time to ensure that the robot arm has reached the specified position
+time.sleep(2.5)
+# Let the robot arm relax and you can swing it manually
+mc.release_all_servos()
+```
+
+<video id="my-video" class="video-js" controls preload="auto" width="100%"
+poster="" data-setup='{"aspectRatio":"16:9"}'>
+
+ <source src="../../resources/10-ApplicationBasePython/myArm/2.5python控制机械臂左右摆动01.mp4"></video>
+
+## 7 Controlling the robotic arm to dance
+
+```python
+from pymycobot.mycobot320 import MyCobot320
+import time
+
+if __name__ == '__main__':
+ # MyCobot320 class initialization requires two parameters:
+ # The first is the serial port string:"/dev/ttyAMA0"
+ # The second is the baud rate: 115200
+ #
+ # Example:
+ # mc = MyCobot320("/dev/ttyAMA0", 115200)
+
+
+ # Initialize a MyCobot320 object
+ mc = MyCobot320("/dev/ttyAMA0",115200)
+
+ # Set the start time
+ start = time.time()
+ # Let the robot reach the specified position
+ mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
+ # Determine whether it has reached the specified position
+ while not mc.is_in_position([-1.49, 115, -145, 30, -33.42, 137.9], 0):
+ # Let the robot resume movement
+ mc.resume()
+ # Let the robot move for 0.5s
+ time.sleep(0.5)
+ # Pause the movement of the robot
+ mc.pause()
+ # Determine whether the movement has timed out
+ if time.time() - start > 3:
+ break
+ # Set the start time
+ start = time.time()
+ # Let the exercise last for 30 seconds
+ while time.time() - start < 30:
+ # Let the robot quickly reach this position
+ mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
+ # Set the color of the light to [0,0,50]
+ mc.set_color(0, 0, 50)
+ time.sleep(0.7)
+ # Let the robot quickly reach this position
+ mc.send_angles([-1.49, 55, -145, 80, 33.42, 137.9], 80)
+ # Set the color of the light to [0,50,0]
+ mc.set_color(0, 50, 0)
+ time.sleep(0.7)
+```
+
+<video id="my-video" class="video-js" controls preload="auto" width="100%"
+poster="" data-setup='{"aspectRatio":"16:9"}'>
+
+ <source src="../../resources/10-ApplicationBasePython/myArm/2.6控制机械臂跳舞01.mp4"></video>
+
+
+## 8 Controlling Gripper
```python
from pymycobot.mycobot320 import MyCobot320
diff --git a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md
index 1167487..3ea3b9b 100644
--- a/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md
+++ b/10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md
@@ -214,7 +214,125 @@ mc.send_coord(Coord.X.value, 100, 70)
```
-## 6 Controlling Gripper
+## 6 Control the robot arm to swing left and right
+
+```python
+from pymycobot.mycobot320 import MyCobot320
+
+import time
+# Initialize a MyCobot320 object
+
+# M5 version
+mc = MyCobot320("COM3", 115200)
+# Get the coordinates of the current position
+angle_datas = mc.get_angles()
+print(angle_datas)
+
+# Use a sequence to pass the coordinate parameters and let the robot move to the specified position
+mc.send_angles([0, 0, 0, 0, 0, 0], 50)
+print(mc.is_paused())
+# Set the waiting time to ensure that the robot has reached the specified position
+# while not mc.is_paused():
+time.sleep(2.5)
+
+# Move joint 1 to the position of 90
+mc.send_angle(1, 90, 50)
+
+# Set the waiting time to ensure that the robot has reached the specified position
+time.sleep(2)
+
+# Set the number of loops
+num = 5
+
+# Let the robot swing left and right
+while num > 0:
+ # Move joint 2 to position 50
+ mc.send_angle(2, 50, 50)
+ # Set the waiting time to ensure that the robot has reached the specified position
+ time.sleep(1.5)
+ # Move joint 2 to position -50
+ mc.send_angle(2, -50, 50)
+ # Set the waiting time to ensure that the robot has reached the specified position
+ time.sleep(1.5)
+ num -= 1
+# Retract the robot. You can manually swing the robot, and then use the get_angles() function to get the coordinate sequence,
+# Use this function to make the robot reach the position you want.
+mc.send_angles([88.68, -135, 145, -128.05, -9.93, -15.29], 50)
+
+# Set the waiting time to ensure that the robot arm has reached the specified position
+time.sleep(2.5)
+# Let the robot arm relax and you can swing it manually
+mc.release_all_servos()
+```
+
+<video id="my-video" class="video-js" controls preload="auto" width="100%"
+poster="" data-setup='{"aspectRatio":"16:9"}'>
+
+ <source src="../../resources/10-ApplicationBasePython/myArm/2.5python控制机械臂左右摆动01.mp4"></video>
+
+## 7 Controlling the robotic arm to dance
+
+```python
+from pymycobot.mycobot320 import MyCobot320
+import time
+
+if __name__ == '__main__':
+ # MyCobot320 class initialization requires two parameters:
+ # The first is the serial port string, such as:
+ # Linux: "/dev/ttyUSB0"
+ # Windows: "COM3"
+ # The second is the baud rate:
+ # M5 version: 115200
+
+ # Example:
+ # mycobot-M5:
+ # Linux:
+ # mc = MyCobot320("/dev/ttyUSB0", 115200)
+ # Windows:
+ # mc = MyCobot320("COM3", 115200)
+
+ # Initialize a MyCobot320 object
+ # M5 version
+ mc = MyCobot320("COM3",115200)
+
+ # Set the start time
+ start = time.time()
+ # Let the robot reach the specified position
+ mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
+ # Determine whether it has reached the specified position
+ while not mc.is_in_position([-1.49, 115, -145, 30, -33.42, 137.9], 0):
+ # Let the robot resume movement
+ mc.resume()
+ # Let the robot move for 0.5s
+ time.sleep(0.5)
+ # Pause the movement of the robot
+ mc.pause()
+ # Determine whether the movement has timed out
+ if time.time() - start > 3:
+ break
+ # Set the start time
+ start = time.time()
+ # Let the exercise last for 30 seconds
+ while time.time() - start < 30:
+ # Let the robot quickly reach this position
+ mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
+ # Set the color of the light to [0,0,50]
+ mc.set_color(0, 0, 50)
+ time.sleep(0.7)
+ # Let the robot quickly reach this position
+ mc.send_angles([-1.49, 55, -145, 80, 33.42, 137.9], 80)
+ # Set the color of the light to [0,50,0]
+ mc.set_color(0, 50, 0)
+ time.sleep(0.7)
+```
+
+<video id="my-video" class="video-js" controls preload="auto" width="100%"
+poster="" data-setup='{"aspectRatio":"16:9"}'>
+
+ <source src="../../resources/10-ApplicationBasePython/myArm/2.6控制机械臂跳舞01.mp4"></video>
+
+
+## 8 Controlling Gripper
```python
from pymycobot.mycobot320 import MyCobot320