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优化手柄控制

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This commit is contained in:
1002142102@qq.com
2025-12-10 11:46:28 +08:00
parent 450383cabb
commit 39d860c7ee
3 changed files with 35 additions and 28 deletions
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11
robot_client/robots/realman/motors_bus.py
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@@ -1,6 +1,6 @@
import time import time
from typing import Any, Dict from typing import Any, Dict
from Robotic_Arm.rm_robot_interface import * from Robotic_Arm.rm_robot_interface import RoboticArm,rm_thread_mode_e
from lerobot.motors import Motor, MotorCalibration, MotorsBus from lerobot.motors import Motor, MotorCalibration, MotorsBus
#动作执行成功 #动作执行成功
ACTION_SUCCESS = 0 ACTION_SUCCESS = 0
@@ -224,6 +224,7 @@ class RealmanMotorsBus(MotorsBus):
values = list(actionData.values()) values = list(actionData.values())
for k,v in enumerate(self.init_pose): for k,v in enumerate(self.init_pose):
self.init_pose[k]+=values[k] self.init_pose[k]+=values[k]
print(f"init_pose:{self.init_pose[:-1]}")
self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0) self.rmarm.rm_movej_p(self.init_pose[:-1], 50, 0, 0, 0)
# self.init_pose[6]+=actionData['gripper'] # self.init_pose[6]+=actionData['gripper']
# self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0) # self.rmarm.rm_set_gripper_position(int(self.init_pose[6]*1000), False, 0)
@@ -310,15 +311,15 @@ class RealmanMotorsBus(MotorsBus):
return 0,self.motors[motor].id return 0,self.motors[motor].id
def _encode_sign(self, data_name, ids_values): def _encode_sign(self, data_name, ids_values):
raise NotImplementedError pass
def _decode_sign(self, data_name, ids_values): def _decode_sign(self, data_name, ids_values):
raise NotImplementedError pass
def _split_into_byte_chunks(self, value, length): def _split_into_byte_chunks(self, value, length):
raise NotImplementedError pass
def broadcast_ping(self, num_retry = 0, raise_on_error = False): def broadcast_ping(self, num_retry = 0, raise_on_error = False):
raise NotImplementedError pass
def _handshake(self) -> None: def _handshake(self) -> None:
pass pass

30
robot_client/teleoperators/xbox/xbox.py
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@@ -90,38 +90,36 @@ class Xbox(Teleoperator):
hat_right = hat[0] == 1 # X+ hat_right = hat[0] == 1 # X+
# print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}") # print(f"方向键状态: up={hat_up}, down={hat_down}, left={hat_left}, right={hat_right}")
# 计算各轴速度 # 计算各轴速度
pose_speeds['x.vel'] = -current_linear_step if hat_left else (current_linear_step if hat_right else 0.0) # X pose_speeds['x.vel'] = current_linear_step if hat_left else (-current_linear_step if hat_right else 0.0) # X
pose_speeds['y.vel'] = current_linear_step if hat_up else (-current_linear_step if hat_down else 0.0) # Y pose_speeds['y.vel'] = -current_linear_step if hat_up else (current_linear_step if hat_down else 0.0) # Y
# 左摇杆X轴 # 左右扳机控制z轴
z_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(1)) right_tiger = ((self.joystick.get_axis(5)+1)/2)
print(f"Z轴非线性映射: {self.joystick.get_axis(1)} -> {z_mapping}") left_tiger = ((self.joystick.get_axis(4)+1)/2)
pose_speeds['z.vel'] = z_mapping * current_angular_step * 2 # RY z_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
pose_speeds['z.vel'] = z_mapping * current_angular_step * 2
#左摇杆X轴控制RX旋转 #右摇杆X轴控制RX旋转
# 设置RX旋转速度 # 设置RX旋转速度
rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(2)) rx_mapping = self.apply_nonlinear_mapping(self.joystick.get_axis(2))
# print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}") # print(f"RX轴非线性映射: {x_axis} -> {rx_mapping}")
pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2 # RX pose_speeds['rx.vel'] = rx_mapping * current_angular_step * 2 # RX
# 左摇杆Y轴控制RY旋转 # 右摇杆Y轴控制RY旋转
# 设置RY旋转速度 # 设置RY旋转速度
ry_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(3)) ry_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(3))
# print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}") # print(f"RY轴非线性映射: {y_axis} -> {ry_mapping}")
pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2 # RY pose_speeds['ry.vel'] = ry_mapping * current_angular_step * 2 # RY
# 左右扳机控制RZ旋转 # 左摇杆X轴RZ旋转
# 设置RZ旋转速度 # 设置RZ旋转速度
right_tiger = ((self.joystick.get_axis(5)+1)/2) rz_mapping = self.apply_nonlinear_mapping(-self.joystick.get_axis(0))
left_tiger = ((self.joystick.get_axis(4)+1)/2)
print(f"左右扳机: {left_tiger} {right_tiger}")
rz_mapping = self.apply_nonlinear_mapping(left_tiger - right_tiger)
# print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}") # print(f"RZ轴非线性映射: {z_axis} -> {rz_mapping}")
pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2 # RZ pose_speeds['rz.vel'] = rz_mapping * current_angular_step * 2 # RZ
# 右摇杆Y轴控制夹爪 # 左摇杆Y轴控制夹爪
# 设置夹爪开合速度 # 设置夹爪开合速度
gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(0)) gripper_mapping = -self.apply_nonlinear_mapping(-self.joystick.get_axis(1))
# print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}") # print(f"gripper轴非线性映射: {self.joystick.get_axis(0)} -> {gripper_mapping}")
pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2 # RY pose_speeds['gripper.vel'] = gripper_mapping * current_angular_step * 2 # RY

22
test.py
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@@ -1,10 +1,18 @@
import time import time
from Robotic_Arm.rm_robot_interface import * import pygame
if __name__=="__main__": if __name__=="__main__":
rmarm = RoboticArm(rm_thread_mode_e.RM_DUAL_MODE_E) pygame.init()
rmarm.rm_create_robot_arm("192.168.3.18", 8080) pygame.joystick.init()
rmarm.rm_set_arm_run_mode(0) joystick = pygame.joystick.Joystick(0)
print(joystick.get_name())
while True: while True:
ret = rmarm.rm_get_arm_software_info() pygame.event.wait()
print(ret) a={
time.sleep(1) "leftx":joystick.get_axis(0),
"lefty":joystick.get_axis(1),
"rightx":joystick.get_axis(2),
"righty":joystick.get_axis(3),
"left_bj":joystick.get_axis(4),
"right_bj":joystick.get_axis(5),
}
print(a)