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