From 7a0b72b34e9a738eacc2925e1e86ea30132afde6 Mon Sep 17 00:00:00 2001
From: TheFive666 <116151187+TheFive666@users.noreply.github.com>
Date: Fri, 27 Sep 2024 10:02:12 +0800
Subject: [PATCH] Delete 7-ExamplesRobotsUsing/320M5_EN.md
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-# 320M5 handle remote control case
-
-**Function description**: Use the game controller to control the robot to perform coordinate movement and suction pump switch
-
-## 1 Suction pump installation
-First install the suction pump to the end of the robot arm
-
-
-
-Then connect the suction pump control box line to the base IO of the robot arm
-
-
-
-## 2 Suction pump test
-```python
-from pymycobot import MyCobot,utils
-import time
-arm=MyCobot(utils.get_port_list()[0])
-for i in range(1):
- arm.set_basic_output(1,0)#Turn on the suction pump
- time.sleep(2)
- arm.set_basic_output(1,1)#Turn off the suction pump
- time.sleep(2)
-```
-
-## 3 Controller function description
-**Note**: The controller needs to be purchased separately, please consult the official customer service for details
-
-
-
-Plug the receiver of the handle into the computer
-
-|Button|Function|
-|---|---|
-|Press the direction key↑|RY positive movement|
-|Press the direction key↓|RY negative movement|
-|Press the direction key←|RX positive movement|
-|Press the direction key→|RX negative movement|
-|Push the left joystick↑|X positive movement|
-|Push the left joystick↓|X negative movement|
-|Push the left joystick←|Y positive movement|
-|Push the left joystick→|Y negative movement|
-|Push the right joystick↑|Z positive movement|
-|Push the right joystick↓|Z negative movement|
-|Push the right joystick←|RZ positive movement|
-|Push the right joystick→|RZ negative movement|
-|Press the Y key|Turn on the suction pump|
-|Press the A key|Turn off the suction pump|
-
-**Note**: Some handle buttons are not used, so they will not have any effect on the robot arm
-
-## 4 Installation of handle dependency library
-Open the terminal and enter the following command to install the handle driver library
-```bash
-pip install pygame
-```
-## 5 Preparation
-Adjust the robot arm to the posture shown in the figure below. There should be no debris around the robot arm to avoid collision
-
-
-
-Note that the screen of the robot arm seat should display ok
-
-
-
-Turn on the switch of the handle
-
-
-
-Note whether the MODE LED of the handle is on
-
-
-
-**Note**: Only MODE The LED lights up before you can control the robot arm. If the handle is not used for a long time, it will enter the standby state. You can press the START button of the handle to activate it.
-
-
-
-## 5 Case program
-```python
-import pygame
-import sys
-from pymycobot import MyCobot,utils
-mc=MyCobot(utils.get_port_list()[0])
-init_angles=[0, 0, -90, 0, 90, 0]
-mc.sync_send_angles(init_angles,50)
-pygame.init()
-pygame.joystick.init()
-button_pressed = False
-hat_pressed=False
-previous_state = [0,0,0,0,0,0]
-
-def joy_handler():
- global button_pressed
- global hat_pressed
- global previous_state
- if event.type == pygame.JOYAXISMOTION:
- axis = event.axis
- value = round(event.value, 2)
- if abs(value) > 0.1:
- flag = True
- previous_state[axis] = value
- 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==2 and value==1.00:
- mc.jog_coord(6,1,50)
- elif axis==2 and value==-1.00:
- mc.jog_coord(6,0,50)
- if axis==3 and value==1.00:
- mc.jog_coord(3,0,50)
- elif axis==3 and value==-1.00:
- mc.jog_coord(3,1,50)
- else:
- if previous_state[axis] != 0:
- mc.stop()
- previous_state[axis] = 0
-
- if event.type == pygame.JOYBUTTONDOWN:
- if joystick.get_button(3)==1:
- mc.set_basic_output(1,0)
- if joystick.get_button(0)==1:
- mc.set_basic_output(1,1)
-
- if event.type == pygame.JOYHATMOTION:
- hat_value = joystick.get_hat(0)
- if hat_value ==(0,-1):
- mc.jog_coord(5,1,50)
- elif hat_value ==(0,1):
- mc.jog_coord(5,0,50)
- elif hat_value ==(-1,0):
- mc.jog_coord(4,0,50)
- elif hat_value ==(1,0):
- mc.jog_coord(4,1,50)
- if hat_value != (0, 0):
- hat_pressed = True
- else:
- if hat_pressed:
- mc.stop()
- hat_pressed = False
-
-if pygame.joystick.get_count() > 0:
- joystick = pygame.joystick.Joystick(0)
- joystick.init()
-else:
- print("No handle detected")
- pygame.quit()
- sys.exit()
-running = True
-while running:
- for event in pygame.event.get():
- if event.type == pygame.QUIT:
- running = False
- joy_handler()
-pygame.quit()
-```
-
-# 6 Effect display
-
\ No newline at end of file