Merge pull request #21 from agilexrobotics/pr

demo增加piper_stop

Author: RosenYin

demo/V1/README(EN).MD

@@ -47,6 +47,7 @@ V1
 ├── piper_set_mit.py
 ├── piper_slave_config.py
 ├── piper_status.py
+├── piper_stop.py
 ├── read_gripper_status.py
 ├── read_joint_state.py
 └── read_piper_hardware.py
@@ -71,6 +72,7 @@ V1
 | `piper_set_mit.py` | Set the robotic arm to MIT mode, where it responds the fastest |
 | `piper_slave_config.py` | Set the robotic arm as the slave arm |
 | `piper_status.py` | Read the status of the robotic arm |
+| `piper_stop.py` |The robotic arm stops with a slow descent, and it needs to be reset and re-enabled twice after use|
 | `read_gripper_status.py` | Read the status of the gripper |
 | `read_joint_state.py` | Read joint angle messages and print them |
 | `read_piper_hardware.py` | Read the firmware version of the robotic arm's main controller |

demo/V1/README.MD

@@ -47,6 +47,7 @@ V1
 ├── piper_set_mit.py
 ├── piper_slave_config.py
 ├── piper_status.py
+├── piper_stop.py
 ├── read_gripper_status.py
 ├── read_joint_state.py
 └── read_piper_hardware.py
@@ -71,6 +72,7 @@ V1
 |`piper_set_mit.py`|设定机械臂为mit模式，这个模式下机械臂响应最快速|
 |`piper_slave_config.py`|机械臂设置为从臂|
 |`piper_status.py`|机械臂状态读取|
+|`piper_stop.py`|机械臂停止缓慢下落，需要在使用后reset，并重新使能两次|
 |`read_gripper_status.py`|机械臂夹爪状态读取|
 |`read_joint_state.py`|读取关节角消息并打印|
 |`read_piper_hardware.py`|读取机械臂主控固件版本|

demo/V1/piper_stop.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+# 设置机械臂重置，需要在mit或者示教模式切换为位置速度控制模式时执行
+# 使用后需要reset，并重新使能两次
+
+from typing import (
+    Optional,
+)
+import time
+from piper_sdk import *
+
+# 测试代码
+if __name__ == "__main__":
+    piper = C_PiperInterface()
+    piper.ConnectPort()
+    piper.MotionCtrl_1(0x01,0,0)

demo/V2/README(EN).MD

@@ -49,6 +49,7 @@ V2
 ├── piper_set_mit.py
 ├── piper_slave_config.py
 ├── piper_status.py
+├── piper_stop.py
 ├── read_gripper_status.py
 ├── read_joint_state.py
 ├── read_piper_hardware.py
@@ -77,6 +78,7 @@ V2
 | `piper_set_mit.py` | Set the robotic arm to MIT mode, where it responds the fastest |
 | `piper_slave_config.py` | Set the robotic arm as the slave arm |
 | `piper_status.py` | Read the status of the robotic arm |
+| `piper_stop.py` |The robotic arm stops with a slow descent, and it needs to be reset and re-enabled twice after use|
 | `read_gripper_status.py` | Read the status of the gripper |
 | `read_joint_state.py` | Read joint angle messages and print them |
 | `read_piper_hardware.py` | Read the firmware version of the robotic arm's main controller |

demo/V2/README.MD

@@ -49,6 +49,7 @@ V2
 ├── piper_set_mit.py
 ├── piper_slave_config.py
 ├── piper_status.py
+├── piper_stop.py
 ├── read_gripper_status.py
 ├── read_joint_state.py
 ├── read_piper_hardware.py
@@ -77,6 +78,7 @@ V2
 |`piper_set_mit.py`|设定机械臂为mit模式，这个模式下机械臂响应最快速|
 |`piper_slave_config.py`|机械臂设置为从臂|
 |`piper_status.py`|机械臂状态读取|
+|`piper_stop.py`|机械臂停止缓慢下落，需要在使用后reset，并重新使能两次|
 |`read_gripper_status.py`|机械臂夹爪状态读取|
 |`read_joint_state.py`|读取关节角消息并打印|
 |`read_piper_hardware.py`|读取机械臂主控固件版本|

demo/V2/piper_stop.py

@@ -0,0 +1,17 @@
+#!/usr/bin/env python3
+# -*-coding:utf8-*-
+# 注意demo无法直接运行，需要pip安装sdk后才能运行
+# 设置机械臂重置，需要在mit或者示教模式切换为位置速度控制模式时执行
+# 使用后需要reset，并重新使能两次
+
+from typing import (
+    Optional,
+)
+import time
+from piper_sdk import *
+
+# 测试代码
+if __name__ == "__main__":
+    piper = C_PiperInterface_V2()
+    piper.ConnectPort()
+    piper.MotionCtrl_1(0x01,0,0)