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修复python运动案例、更新关节限位信息
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‎10-ApplicationBasePython/10.1_320_PI-ApplicationPython/2_API.md‎

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@@ -170,23 +170,23 @@ mc.send_angle(1, 40, 20)
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</tr>
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<tr>
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<td style="text-align: center;">1</td>
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<td>-170 ~ 170</td>
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<td>-168 ~ 168</td>
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</tr>
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<tr>
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<td style="text-align: center;">2</td>
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<td>-137 ~ 137</td>
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<td>-135 ~ 135</td>
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</tr>
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<tr>
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<td style="text-align: center;">3</td>
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<td>-151 ~ 142</td>
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<td>-145 ~ 145</td>
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</tr>
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<tr>
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<td style="text-align: center;">4</td>
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<td>-148 ~ 184</td>
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<td>-148 ~ 148</td>
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</tr>
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<tr>
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<td style="text-align: center;">5</td>
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<td>-169 ~ 169</td>
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<td>-168 ~ 168</td>
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<td style="text-align: center;">6</td>

‎10-ApplicationBasePython/10.1_320_PI-ApplicationPython/6_example.md‎

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@@ -200,7 +200,117 @@ mc.send_coord(1, 100, 70)
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```
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## 6 Controlling Gripper
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## 6 Control the robot arm to swing left and right
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```python
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from pymycobot.mycobot320 import MyCobot320
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import time
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# Initialize a MyCobot320 object
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mc = MyCobot320("/dev/ttyAMA0", 115200)
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# Get the coordinates of the current position
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angle_datas = mc.get_angles()
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print(angle_datas)
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# Use a sequence to pass the coordinate parameters and let the robot move to the specified position
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mc.send_angles([0, 0, 0, 0, 0, 0], 50)
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print(mc.is_paused())
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# Set the waiting time to ensure that the robot has reached the specified position
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# while not mc.is_paused():
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time.sleep(2.5)
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# Move joint 1 to the position of 90
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mc.send_angle(1, 90, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(2)
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# Set the number of loops
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num = 5
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# Let the robot swing left and right
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while num > 0:
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# Move joint 2 to position 50
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mc.send_angle(2, 50, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(1.5)
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# Move joint 2 to position -50
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mc.send_angle(2, -50, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(1.5)
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num -= 1
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# Retract the robot. You can manually swing the robot, and then use the get_angles() function to get the coordinate sequence,
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# Use this function to make the robot reach the position you want.
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mc.send_angles([88.68, -135, 145, -128.05, -9.93, -15.29], 50)
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# Set the waiting time to ensure that the robot arm has reached the specified position
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time.sleep(2.5)
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# Let the robot arm relax and you can swing it manually
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mc.release_all_servos()
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```
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<video id="my-video" class="video-js" controls preload="auto" width="100%"
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poster="" data-setup='{"aspectRatio":"16:9"}'>
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<source src="../../resources/10-ApplicationBasePython/myArm/2.5python控制机械臂左右摆动01.mp4"></video>
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## 7 Controlling the robotic arm to dance
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```python
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from pymycobot.mycobot320 import MyCobot320
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import time
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if __name__ == '__main__':
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# MyCobot320 class initialization requires two parameters:
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# The first is the serial port string:"/dev/ttyAMA0"
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# The second is the baud rate: 115200
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#
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# Example:
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# mc = MyCobot320("/dev/ttyAMA0", 115200)
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# Initialize a MyCobot320 object
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mc = MyCobot320("/dev/ttyAMA0",115200)
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# Set the start time
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start = time.time()
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# Let the robot reach the specified position
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mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
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# Determine whether it has reached the specified position
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while not mc.is_in_position([-1.49, 115, -145, 30, -33.42, 137.9], 0):
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# Let the robot resume movement
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mc.resume()
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# Let the robot move for 0.5s
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time.sleep(0.5)
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# Pause the movement of the robot
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mc.pause()
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# Determine whether the movement has timed out
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if time.time() - start > 3:
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break
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# Set the start time
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start = time.time()
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# Let the exercise last for 30 seconds
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while time.time() - start < 30:
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# Let the robot quickly reach this position
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mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
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# Set the color of the light to [0,0,50]
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mc.set_color(0, 0, 50)
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time.sleep(0.7)
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# Let the robot quickly reach this position
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mc.send_angles([-1.49, 55, -145, 80, 33.42, 137.9], 80)
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# Set the color of the light to [0,50,0]
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mc.set_color(0, 50, 0)
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time.sleep(0.7)
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```
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<video id="my-video" class="video-js" controls preload="auto" width="100%"
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poster="" data-setup='{"aspectRatio":"16:9"}'>
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<source src="../../resources/10-ApplicationBasePython/myArm/2.6控制机械臂跳舞01.mp4"></video>
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## 8 Controlling Gripper
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```python
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from pymycobot.mycobot320 import MyCobot320

‎10-ApplicationBasePython/10.2_320_M5-ApplicationPython/5_example.md‎

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Original file line numberDiff line numberDiff line change
@@ -214,7 +214,125 @@ mc.send_coord(Coord.X.value, 100, 70)
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```
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## 6 Controlling Gripper
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## 6 Control the robot arm to swing left and right
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```python
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from pymycobot.mycobot320 import MyCobot320
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import time
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# Initialize a MyCobot320 object
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# M5 version
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mc = MyCobot320("COM3", 115200)
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# Get the coordinates of the current position
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angle_datas = mc.get_angles()
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print(angle_datas)
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# Use a sequence to pass the coordinate parameters and let the robot move to the specified position
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mc.send_angles([0, 0, 0, 0, 0, 0], 50)
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print(mc.is_paused())
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# Set the waiting time to ensure that the robot has reached the specified position
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# while not mc.is_paused():
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time.sleep(2.5)
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# Move joint 1 to the position of 90
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mc.send_angle(1, 90, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(2)
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# Set the number of loops
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num = 5
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# Let the robot swing left and right
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while num > 0:
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# Move joint 2 to position 50
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mc.send_angle(2, 50, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(1.5)
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# Move joint 2 to position -50
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mc.send_angle(2, -50, 50)
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# Set the waiting time to ensure that the robot has reached the specified position
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time.sleep(1.5)
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num -= 1
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# Retract the robot. You can manually swing the robot, and then use the get_angles() function to get the coordinate sequence,
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# Use this function to make the robot reach the position you want.
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mc.send_angles([88.68, -135, 145, -128.05, -9.93, -15.29], 50)
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# Set the waiting time to ensure that the robot arm has reached the specified position
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time.sleep(2.5)
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# Let the robot arm relax and you can swing it manually
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mc.release_all_servos()
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```
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<video id="my-video" class="video-js" controls preload="auto" width="100%"
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poster="" data-setup='{"aspectRatio":"16:9"}'>
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<source src="../../resources/10-ApplicationBasePython/myArm/2.5python控制机械臂左右摆动01.mp4"></video>
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## 7 Controlling the robotic arm to dance
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```python
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from pymycobot.mycobot320 import MyCobot320
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import time
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if __name__ == '__main__':
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# MyCobot320 class initialization requires two parameters:
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# The first is the serial port string, such as:
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# Linux: "/dev/ttyUSB0"
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# Windows: "COM3"
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# The second is the baud rate:
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# M5 version: 115200
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# Example:
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# mycobot-M5:
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# Linux:
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# mc = MyCobot320("/dev/ttyUSB0", 115200)
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# Windows:
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# mc = MyCobot320("COM3", 115200)
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# Initialize a MyCobot320 object
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# M5 version
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mc = MyCobot320("COM3",115200)
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# Set the start time
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start = time.time()
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# Let the robot reach the specified position
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mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
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# Determine whether it has reached the specified position
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while not mc.is_in_position([-1.49, 115, -145, 30, -33.42, 137.9], 0):
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# Let the robot resume movement
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mc.resume()
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# Let the robot move for 0.5s
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time.sleep(0.5)
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# Pause the movement of the robot
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mc.pause()
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# Determine whether the movement has timed out
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if time.time() - start > 3:
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break
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# Set the start time
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start = time.time()
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# Let the exercise last for 30 seconds
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while time.time() - start < 30:
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# Let the robot quickly reach this position
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mc.send_angles([-1.49, 115, -145, 30, -33.42, 137.9], 80)
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# Set the color of the light to [0,0,50]
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mc.set_color(0, 0, 50)
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time.sleep(0.7)
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# Let the robot quickly reach this position
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mc.send_angles([-1.49, 55, -145, 80, 33.42, 137.9], 80)
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# Set the color of the light to [0,50,0]
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mc.set_color(0, 50, 0)
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time.sleep(0.7)
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```
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<video id="my-video" class="video-js" controls preload="auto" width="100%"
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poster="" data-setup='{"aspectRatio":"16:9"}'>
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<source src="../../resources/10-ApplicationBasePython/myArm/2.6控制机械臂跳舞01.mp4"></video>
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## 8 Controlling Gripper
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```python
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from pymycobot.mycobot320 import MyCobot320

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