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single arm test

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yutang
2025-06-05 15:49:57 +08:00
parent bfd26eef5a
commit 7b201773f3
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#!/usr/bin/env python3
# -*-coding:utf8-*-
from typing import Optional
import time
from piper_sdk import *
import pygame
import threading
from typing import Dict
def enable_fun(piper:C_PiperInterface_V2):
'''
使能机械臂并检测使能状态,尝试5s,如果使能超时则退出程序
'''
enable_flag = False
# 设置超时时间（秒）
timeout = 5
# 记录进入循环前的时间
start_time = time.time()
elapsed_time_flag = False
while not (enable_flag):
elapsed_time = time.time() - start_time
print("--------------------")
enable_flag = piper.GetArmLowSpdInfoMsgs().motor_1.foc_status.driver_enable_status and \
piper.GetArmLowSpdInfoMsgs().motor_2.foc_status.driver_enable_status and \
piper.GetArmLowSpdInfoMsgs().motor_3.foc_status.driver_enable_status and \
piper.GetArmLowSpdInfoMsgs().motor_4.foc_status.driver_enable_status and \
piper.GetArmLowSpdInfoMsgs().motor_5.foc_status.driver_enable_status and \
piper.GetArmLowSpdInfoMsgs().motor_6.foc_status.driver_enable_status
print("使能状态:",enable_flag)
piper.EnableArm(7)
piper.GripperCtrl(0,1000,0x01, 0)
print("--------------------")
# 检查是否超过超时时间
if elapsed_time > timeout:
print("超时....")
elapsed_time_flag = True
enable_flag = True
break
time.sleep(1)
pass
if(elapsed_time_flag):
print("程序自动使能超时,退出程序")
exit(0)
class UnifiedArmController:
def __init__(self):
# 初始化pygame和手柄
pygame.init()
pygame.joystick.init()
# 检查是否有连接的手柄
if pygame.joystick.get_count() == 0:
raise Exception("未检测到手柄")
# 初始化手柄
self.joystick = pygame.joystick.Joystick(0)
self.joystick.init()
# 控制模式标志 - True为末端位姿控制，False为关节控制
self.end_pose_mode = False
# 摇杆死区
self.deadzone = 0.15
# 精细控制模式
self.fine_control_mode = False
# 初始化关节状态
self.joints = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # 6个关节
self.joint_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0] # 6个关节的速度
# 关节弧度限制
self.joint_limits = [
(-92000 / 57324.840764, 92000 / 57324.840764), # joint1
( 0 / 57324.840764, 120000 / 57324.840764), # joint2
(-80000 / 57324.840764, 0 / 57324.840764), # joint3
(-90000 / 57324.840764, 90000 / 57324.840764), # joint4
(-65000 / 57324.840764, 65000 / 57324.840764), # joint5
(-90000 / 57324.840764, 90000 / 57324.840764) # joint6
]
# 初始化末端姿态 [X, Y, Z, RX, RY, RZ]
self.pose = [0.056127, 0, 0.213266, 0, 84.999, 0]
self.pose_speeds = [0.0] * 6
# 末端位姿限制
self.pose_limits = [
(-0.6, 0.6), # X (m)
(-0.6, 0.6), # Y (m)
(0.05, 0.6), # Z (m) - 设置最小高度防止碰撞
(-180, 180), # RX (deg)
(-180, 180), # RY (deg)
(-180, 180) # RZ (deg)
]
# 控制参数
self.linear_step = 0.0015 # 线性移动步长(m)
self.angular_step = 0.05 # 角度步长(deg)
self.joint_step = 0.015 # 关节步长(rad)
# 夹爪状态和速度
self.gripper = 0.0
self.gripper_speed = 0.0
# 启动更新线程
self.running = True
self.thread = threading.Thread(target=self.update_controller)
self.thread.start()
print("机械臂统一控制器已启动")
print("按下OPTIONS(Start)切换控制模式")
print("当前模式:", "末端位姿控制" if self.end_pose_mode else "关节控制")
def _apply_nonlinear_mapping(self, value):
"""应用非线性映射以提高控制精度"""
# 保持符号，但对数值应用平方映射以提高精度
sign = 1 if value >= 0 else -1
return sign * (abs(value) ** 2)
def _normalize_angle(self, angle):
"""将角度归一化到[-180, 180]范围内"""
while angle > 180:
angle -= 360
while angle < -180:
angle += 360
return angle
def update_controller(self):
while self.running:
try:
pygame.event.pump()
except Exception as e:
print(f"控制器错误: {e}")
self.stop()
continue
# 检查控制模式切换 (使用左摇杆按钮)
if self.joystick.get_button(9): # 左摇杆按钮
self.end_pose_mode = not self.end_pose_mode
print(f"切换到{'末端位姿控制' if self.end_pose_mode else '关节控制'}模式")
time.sleep(0.3) # 防止多次触发
# 检查精细控制模式切换 (使用L3按钮)
if self.joystick.get_button(10): # L3按钮
self.fine_control_mode = not self.fine_control_mode
print(f"切换到{'精细' if self.fine_control_mode else '普通'}控制模式")
time.sleep(0.3) # 防止多次触发
# 检查重置按钮 (7号按钮，通常是Start按钮)
if self.joystick.get_button(7): # Start按钮
print("重置机械臂到0位...")
# 重置关节和位姿
self.joints = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.joint_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.gripper = 0.0
self.gripper_speed = 0.0
# 临时切换到关节控制模式
self.end_pose_mode = False
print("机械臂已重置到0位")
time.sleep(0.3) # 防止多次触发
# 根据控制模式获取输入并更新状态
if self.end_pose_mode:
self.update_end_pose()
else:
self.update_joints()
# 夹爪控制（圈/叉）- 两种模式下都保持一致
circle = self.joystick.get_button(1) # 夹爪开
cross = self.joystick.get_button(0) # 夹爪关
self.gripper_speed = 0.01 if circle else (-0.01 if cross else 0.0)
# 更新夹爪
self.gripper += self.gripper_speed
self.gripper = max(0.0, min(0.08, self.gripper))
time.sleep(0.02)
def update_end_pose(self):
"""更新末端位姿控制"""
# 根据控制模式调整步长
current_linear_step = self.linear_step * (0.1 if self.fine_control_mode else 1.0)
current_angular_step = self.angular_step * (0.1 if self.fine_control_mode else 1.0)
# 方向键控制XY
hat = self.joystick.get_hat(0)
hat_up = hat[1] == 1 # Y+
hat_down = hat[1] == -1 # Y-
hat_left = hat[0] == -1 # X-
hat_right = hat[0] == 1 # X+
# 右摇杆控制Z
right_y = -self.joystick.get_axis(4) # Z控制，取反使向上为正
# 左摇杆控制RZ
left_y = -self.joystick.get_axis(1) # RZ控制，取反使向上为正
# 应用死区
right_y = 0.0 if abs(right_y) < self.deadzone else right_y
left_y = 0.0 if abs(left_y) < self.deadzone else left_y
self.pose_speeds[0] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0) # X
self.pose_speeds[1] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0) # Y
# 设置Z速度（右摇杆Y轴控制）
self.pose_speeds[2] = self._apply_nonlinear_mapping(right_y) * current_linear_step # Z
# L1/R1控制RX旋转
LB = self.joystick.get_button(4) # RX-
RB = self.joystick.get_button(5) # RX+
self.pose_speeds[3] = (-current_angular_step if LB else (current_angular_step if RB else 0.0))
# △/□控制RY旋转
triangle = self.joystick.get_button(2) # RY+
square = self.joystick.get_button(3) # RY-
self.pose_speeds[4] = (current_angular_step if triangle else (-current_angular_step if square else 0.0))
# 左摇杆Y轴控制RZ旋转
self.pose_speeds[5] = self._apply_nonlinear_mapping(left_y) * current_angular_step * 2 # RZ，增加系数使旋转更明显
# 更新末端位姿
for i in range(6):
self.pose[i] += self.pose_speeds[i]
# 位置限制
for i in range(3):
min_val, max_val = self.pose_limits[i]
self.pose[i] = max(min_val, min(max_val, self.pose[i]))
# 角度归一化处理
for i in range(3, 6):
self.pose[i] = self._normalize_angle(self.pose[i])
def update_joints(self):
"""更新关节控制"""
# 根据控制模式调整步长
current_joint_step = self.joint_step * (0.1 if self.fine_control_mode else 1.0)
# 使用类似于末端位姿控制的映射，但直接控制关节
# 左摇杆控制关节1和2 (类似于末端位姿控制中的X和Y)
left_x = -self.joystick.get_axis(0) # 左摇杆x轴
left_y = -self.joystick.get_axis(1) # 左摇杆y轴
# 应用死区
left_x = 0.0 if abs(left_x) < self.deadzone else left_x
left_y = 0.0 if abs(left_y) < self.deadzone else left_y
# 右摇杆控制关节3和4
right_x = self.joystick.get_axis(3) # 右摇杆x轴
right_y = self.joystick.get_axis(4) # 右摇杆y轴
# 应用死区
right_x = 0.0 if abs(right_x) < self.deadzone else right_x
right_y = 0.0 if abs(right_y) < self.deadzone else right_y
# 方向键控制关节5和6
hat = self.joystick.get_hat(0)
up = hat[1] == 1
down = hat[1] == -1
left = hat[0] == -1
right = hat[0] == 1
# 映射输入到关节速度
self.joint_speeds[0] = left_x * current_joint_step # joint1速度
self.joint_speeds[1] = left_y * current_joint_step # joint2速度
self.joint_speeds[2] = right_y * current_joint_step # joint3速度
self.joint_speeds[3] = right_x * current_joint_step # joint4速度
self.joint_speeds[4] = -current_joint_step if up else (current_joint_step if down else 0.0) # joint5速度
self.joint_speeds[5] = current_joint_step if right else (-current_joint_step if left else 0.0) # joint6速度
# 积分速度到关节位置
for i in range(6):
self.joints[i] += self.joint_speeds[i]
# 关节范围保护
for i in range(6):
min_val, max_val = self.joint_limits[i]
self.joints[i] = max(min_val, min(max_val, self.joints[i]))
def update_state(self, ctrl_mode, end_pose, joint_state):
if ctrl_mode == 'end_pose':
_joint_state = [0] * 6
_joint_state[0] = joint_state.joint_1 / 57324.840764
_joint_state[1] = joint_state.joint_2 / 57324.840764
_joint_state[2] = joint_state.joint_3 / 57324.840764
_joint_state[3] = joint_state.joint_4 / 57324.840764
_joint_state[4] = joint_state.joint_5 / 57324.840764
_joint_state[5] = joint_state.joint_6 / 57324.840764
self.joints = _joint_state
else:
_end_pose = [0] * 6
_end_pose[0] = end_pose.X_axis / 1000 / 1000
_end_pose[1] = end_pose.Y_axis / 1000 / 1000
_end_pose[2] = end_pose.Z_axis / 1000 / 1000
_end_pose[3] = end_pose.RX_axis / 1000
_end_pose[4] = end_pose.RY_axis / 1000
_end_pose[5] = end_pose.RZ_axis / 1000
self.pose = _end_pose
def get_action(self) -> Dict:
"""获取当前控制命令"""
if self.end_pose_mode:
# 返回末端位姿
return {
'X': self.pose[0],
'Y': self.pose[1],
'Z': self.pose[2],
'RX': self.pose[3],
'RY': self.pose[4],
'RZ': self.pose[5],
'gripper': self.gripper
}
else:
# 返回关节角度
return {
'joint0': self.joints[0],
'joint1': self.joints[1],
'joint2': self.joints[2],
'joint3': self.joints[3],
'joint4': self.joints[4],
'joint5': self.joints[5],
'gripper': self.gripper
}
def get_control_mode(self):
"""返回当前控制模式"""
return "end_pose" if self.end_pose_mode else "joints"
def stop(self):
"""停止控制器"""
self.running = False
if self.thread.is_alive():
self.thread.join()
pygame.quit()
print("控制器已退出")
def reset(self):
"""重置到初始状态"""
self.joints = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.joint_speeds = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
self.pose = [0.056127, 0, 0.213266, 0, 84.999, 0]
self.pose_speeds = [0.0] * 6
self.gripper = 0.0
self.gripper_speed = 0.0
print("已重置到初始状态")
if __name__ == "__main__":
piper = C_PiperInterface_V2("can0")
piper.ConnectPort()
piper.EnableArm(7)
enable_fun(piper=piper)
piper.GripperCtrl(0,1000,0x01, 0)
teleop = UnifiedArmController()
factor = 1000
while True:
# 获取当前控制命令
action = teleop.get_action()
control_mode = teleop.get_control_mode()
if control_mode == "end_pose":
# 末端位姿控制
position = list(action.values())
X = round(position[0]*factor*factor)
Y = round(position[1]*factor*factor)
Z = round(position[2]*factor*factor)
RX = round(position[3]*factor)
RY = round(position[4]*factor)
RZ = round(position[5]*factor)
joint_6 = round(position[6]*factor*factor)
piper.MotionCtrl_2(0x01, 0x00, 100, 0x00)
piper.EndPoseCtrl(X, Y, Z, RX, RY, RZ)
piper.GripperCtrl(abs(joint_6), 1000, 0x01, 0)
new_end_pose = piper.GetArmEndPoseMsgs().end_pose
new_joint_state = piper.GetArmJointMsgs().joint_state
teleop.update_state(control_mode, new_end_pose, new_joint_state)
print("控制模式: 末端控制")
print("末端位置", new_end_pose)
print("关节位置:", new_joint_state)
else:
# 关节控制
joints = list(action.values())
# 将关节角度转换为适合发送的格式
joint0 = round(joints[0] * 57324.840764) # 转换为机械臂期望的单位
joint1 = round(joints[1] * 57324.840764)
joint2 = round(joints[2] * 57324.840764)
joint3 = round(joints[3] * 57324.840764)
joint4 = round(joints[4] * 57324.840764)
joint5 = round(joints[5] * 57324.840764)
gripper = round(joints[6] * 1000 * 1000)
# 发送关节控制命令
piper.MotionCtrl_2(0x01, 0x01, 100, 0x00)
piper.JointCtrl(joint0, joint1, joint2, joint3, joint4, joint5)
piper.GripperCtrl(abs(gripper), 1000, 0x01, 0)
new_end_pose = piper.GetArmEndPoseMsgs().end_pose
new_joint_state = piper.GetArmJointMsgs().joint_state
teleop.update_state(control_mode, new_end_pose, new_joint_state)
print("控制模式: 关节控制")
print("末端位置", new_end_pose)
print("关节位置:", new_joint_state)
time.sleep(0.1)