修正案例脚本中的pymycobot库的使用

Author: wangWking

10-ApplicationBasePython/10.1_320_PI-ApplicationPython/5_Handle_control.md

@@ -13,9 +13,9 @@ 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
+from pymycobot import MyCobot320,utils
 import time
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320(utils.get_port_list()[0])
 for i in range(1):
     arm.set_basic_output(1,0)#Turn on the suction pump
     time.sleep(2)
@@ -79,8 +79,8 @@ Note whether the MODE LED of the handle is on
 ```python
 import pygame
 import sys
-from pymycobot import MyCobot,utils
-mc=MyCobot(utils.get_port_list()[0])
+from pymycobot import MyCobot320,utils
+mc=MyCobot320(utils.get_port_list()[0])
 init_angles=[0, 0, -90, 0, 90, 0]
 mc.sync_send_angles(init_angles,50)
 pygame.init()

10-ApplicationBasePython/10.2_320_M5-ApplicationPython/4_Handle_control.md

@@ -18,9 +18,9 @@ Then use the gripper cable to connect the gripper box to the end IO of the robot
 ## 3 Gripper test
 Run the following program, the gripper will repeat the action of closing and opening twice
 ```python
-from pymycobot import MyCobot,utils
+from pymycobot import MyCobot320,utils
 import time
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320(utils.get_port_list()[0])
 
 if __name__=="__main__":
     arm.set_gripper_mode(0)# Set the gripper to transparent mode
@@ -36,14 +36,14 @@ Use the fast movement function of myblockly to teach the grabbing point and plac
 
 ## 5 Composite Applications
 ```python
-from pymycobot import MyCobot,utils
+from pymycobot import MyCobot320,utils
 import time
 
 init_angles=[-3.25, -2.46, -95.09, 9.22, 86.39, 93.33]#6 joint angles at the initial position
 grab_point=[214.5, -189.9, 185.5, -177.5, 1.91, 173.49]#Coordinates of the grab point
 place_point=[214.5, -50.9, 185.5, -177.5, 1.91, 173.49]#Coordinates of the placement point
 
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320(utils.get_port_list()[0])
 
 if __name__=="__main__":
     arm.set_gripper_state(0,100)#Open the gripper first 

7-ExamplesRobotsUsing/320M5_EN.md

@@ -13,9 +13,9 @@ Then connect the wire of the suction pump control box to the base IO of the robo
 ## 3 Suction pump test
 Run the following program, the suction pump will repeat the opening and closing action twice
 ```python
-from pymycobot import MyCobot,utils
+from pymycobot import MyCobot320,utils
 import time
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320(utils.get_port_list()[0])
 for i in range(2):
     arm.set_basic_output(1,0)#OUT1 output open
     time.sleep(2)
@@ -29,14 +29,14 @@ Use the fast movement function of myblockly to teach the grabbing point and plac
 
 ## 5 Composite Applications
 ```python
-from pymycobot import MyCobot,utils
+from pymycobot import MyCobot320,utils
 import time
 
 init_angles=[-3.25, -2.46, -95.09, 9.22, 86.39, 93.33]#6 joint angles at the initial position
 grab_point=[196.9, -197.1, 124.5, -178.8, 1.25, 173.32]#Coordinates of the grab point
 place_point=[196.9, -97.1, 124.5, -178.8, 1.25, 173.32]#Coordinates of the placement point
 
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320(utils.get_port_list()[0])
 
 if __name__=="__main__":
     arm.set_basic_output(1,1)#Turn off the suction pump first    

7-ExamplesRobotsUsing/320M5_gripper.md

@@ -13,9 +13,9 @@ 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
+from pymycobot import MyCobot320,utils
 import time
-arm=MyCobot(utils.get_port_list()[0])
+arm=MyCobot320('/dev/ttyAMA0', 115200)
 for i in range(1):
     arm.set_basic_output(1,0)#Turn on the suction pump
     time.sleep(2)
@@ -76,8 +76,8 @@ Note whether the MODE LED of the handle is on
 ```python
 import pygame
 import sys
-from pymycobot import MyCobot,utils
-mc=MyCobot(utils.get_port_list()[0])
+from pymycobot import MyCobot320,utils
+mc=MyCobot320('/dev/ttyAMA0', 115200)
 init_angles=[0, 0, -90, 0, 90, 0]
 mc.sync_send_angles(init_angles,50)
 pygame.init()

7-ExamplesRobotsUsing/320M5_pump.md

@@ -18,9 +18,9 @@ Then use the gripper cable to connect the gripper box to the end IO of the robot
 ## 3 Gripper test
 Run the following program, the gripper will repeat the action of closing and opening twice
 ```python
-from pymycobot import MyCobot,PI_PORT,PI_BAUD
+from pymycobot import MyCobot320,PI_PORT
 import time
-arm=MyCobot(PI_PORT,PI_BAUD)
+arm=MyCobot320(PI_PORT,115200)
 
 if __name__=="__main__":
     arm.set_gripper_mode(0)#Gripper is set to transparent mode
@@ -36,14 +36,14 @@ Use the fast movement function of myblockly to teach the grabbing point and plac
 
 ## 5 Composite Application
 ```python
-from pymycobot import MyCobot,PI_PORT,PI_BAUD
+from pymycobot import MyCobot320,PI_PORT
 import time
 
 init_angles=[-3.25, -2.46, -95.09, 9.22, 86.39, 93.33]#6 joint angles at the initial position
 grab_point=[214.5, -189.9, 185.5, -177.5, 1.91, 173.49]#Coordinates of the grab point
 place_point=[214.5, -50.9, 185.5, -177.5, 1.91, 173.49]#Coordinates of the placement point
 
-arm=MyCobot(PI_PORT,PI_BAUD)
+arm=MyCobot320(PI_PORT,115200)
 
 if __name__=="__main__":
     arm.set_gripper_state(0,100)#Open the gripper first    

7-ExamplesRobotsUsing/320PI_EN.md

@@ -13,9 +13,9 @@ Then connect the wire of the suction pump control box to the base IO of the robo
 ## 3 Suction pump test
 Run the following program, the suction pump will repeat the opening and closing action twice
 ```python
-from pymycobot import MyCobot,PI_PORT,PI_BAUD
+from pymycobot import MyCobot,PI_PORT
 import time
-arm=MyCobot(PI_PORT,PI_BAUD)
+arm=MyCobot320(PI_PORT,115200)
 for i in range(2):
     arm.set_basic_output(1,0)#OUT1 output open
     time.sleep(2)
@@ -29,13 +29,13 @@ Use the fast movement function of myblockly to teach the grabbing point and plac
 
 ## 5 Composite Application
 ```python
-from pymycobot import MyCobot,PI_PORT,PI_BAUD
+from pymycobot import MyCobot320,PI_PORT
 import time
 
 init_angles=[-3.25, -2.46, -95.09, 9.22, 86.39, 93.33]#6 joint angles at the initial position
 grab_point=[196.9, -197.1, 124.5, -178.8, 1.25, 173.32]#Coordinates of the grab point
 place_point=[196.9, -97.1, 124.5, -178.8, 1.25, 173.32]#Coordinates of the placement point
-arm=MyCobot(PI_PORT,PI_BAUD)
+arm=MyCobot320(PI_PORT,115200)
 
 if __name__=="__main__":
     arm.set_basic_output(1,1)#Turn off the suction pump first