36 lines
1.3 KiB
Python
36 lines
1.3 KiB
Python
from fairino import Robot
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import time
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# 与机器人控制器建立连接,连接成功返回一个机器人对象
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robot = Robot.RPC('192.168.58.2')
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desc_pos1=[-333.683,-228.968,404.329,-179.138,-0.781,91.261]
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desc_pos2=[-333.683,-100.8,404.329,-179.138,-0.781,91.261]
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zlength1 =10
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zlength2 =15
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zangle1 =10
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zangle2 =15
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#测试外设指令
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ret = robot.SetGripperConfig(4,0) #配置夹爪
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print("配置夹爪错误码", ret)
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time.sleep(1)
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config = robot.GetGripperConfig() #获取夹爪配置
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print("获取夹爪配置",config)
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error = robot.ActGripper(1,0) #激活夹爪
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print("激活夹爪错误码",error)
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time.sleep(1)
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error = robot.ActGripper(1,1)#激活夹爪
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print("激活夹爪错误码",error)
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time.sleep(2)
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error = robot.MoveGripper(1,100,48,46,30000,0) #控制夹爪
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print("控制夹爪错误码",error)
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time.sleep(3)
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error = robot.MoveGripper(1,0,50,0,30000,0) #控制夹爪
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print("控制夹爪错误码",error)
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time.sleep(5)
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error = robot.GetGripperMotionDone() #获取夹爪运动状态
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print("获取夹爪运动状态错误码",error)
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error = robot.ComputePrePick(desc_pos1, zlength1, zangle1) #计算预抓取点-视觉
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print("计算预抓取点",error)
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error = robot.ComputePrePick(desc_pos2, zlength2, zangle2) #计算撤退点-视觉
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print("计算撤退点",error) |