from Robotic_Arm.rm_robot_interface import *

armleft = RoboticArm(rm_thread_mode_e.RM_TRIPLE_MODE_E)

lefthandle = armleft.rm_create_robot_arm("192.168.3.18", 8080)
print("机械臂ID：", lefthandle.id)


print("Left: ", armleft.rm_get_current_arm_state())
print("Left: ", armleft.rm_get_arm_all_state())
# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
# armleft.rm_movej([-90, 90, 90, -90, -90, 90], 50, 0, 0, 1)
# armleft.rm_movej_p([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)s
# armleft.rm_movel([-0.185, 0.315, 0.080, -1.500, -0.800, -0.000], 50, 0, 0, 1)
print(armleft.rm_get_gripper_state())
# armleft.rm_set_gripper_pick(100, 500, True, 2)
# armleft.rm_set_gripper_release(300, True, 2)
# armleft.rm_set_gripper_pick(100, 500, True, 2)
# armleft.rm_set_gripper_position(500, True, 20)
# armleft.rm_set_gripper_pick(100, 500, True, 2)
# armleft.rm_set_gripper_position(500, True, 20)

# armleft.rm_set_gripper_position(999, True, 2)
import time
time.sleep(3)
# armleft.rm_set_gripper_position(1, True, 2)

# 断开所有连接，销毁线程
RoboticArm.rm_destory()