149 lines
4.5 KiB
Python
149 lines
4.5 KiB
Python
'''
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This demo show the communication interface of MR813 motion control board based on Lcm.
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Dependency:
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- robot_control_cmd_lcmt.py
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- robot_control_response_lcmt.py
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'''
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import lcm
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import sys
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import os
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import time
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from threading import Thread, Lock
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from robot_control_cmd_lcmt import robot_control_cmd_lcmt
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from robot_control_response_lcmt import robot_control_response_lcmt
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def main():
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Ctrl = Robot_Ctrl()
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Ctrl.run()
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msg = robot_control_cmd_lcmt()
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try:
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msg.mode = 12 # Recovery stand
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msg.gait_id = 0
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msg.life_count += 1 # Command will take effect when life_count update
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(12, 0)
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msg.mode = 62 # Shake hand, based on position interpolation control
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msg.gait_id = 121
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(62, 2)
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msg.mode = 64 # Twoleg Stand
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msg.gait_id = 0
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(64, 0)
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msg.mode = 21 # Position interpolation control
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msg.gait_id = 0
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msg.rpy_des = [0, 0.3, 0] # Head up
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msg.duration = 500 # Expected execution time, 0.5s
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep( 0.5 )
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msg.mode = 21 # Position interpolation control
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msg.gait_id = 0
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msg.rpy_des = [0, -0.3, 0] # Head down
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msg.duration = 300
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep( 0.3 )
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msg.mode = 21 # Position interpolation control
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msg.gait_id = 5
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msg.rpy_des = [0, 0, 0]
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msg.pos_des = [0, 0, 0.22] # Set body height
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msg.duration = 400
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep( 1 )
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msg.mode = 11 # Locomotion
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msg.gait_id = 26 # TROT_FAST:10 TROT_MEDIUM:3 TROT_SLOW:27 自变频:26
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msg.vel_des = [0, 0, 0.5] #转向
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msg.duration = 0 # Zero duration means continuous motion until a new command is used.
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# Continuous motion can interrupt non-zero duration interpolation motion
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msg.step_height = [0.06, 0.06] # ground clearness of swing leg
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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time.sleep( 5 )
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msg.mode = 7 # PureDamper
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msg.gait_id = 0
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msg.life_count += 1
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Ctrl.Send_cmd(msg)
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Ctrl.Wait_finish(7, 0)
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except KeyboardInterrupt:
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pass
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Ctrl.quit()
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sys.exit()
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class Robot_Ctrl(object):
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def __init__(self):
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self.rec_thread = Thread(target=self.rec_responce)
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self.send_thread = Thread(target=self.send_publish)
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self.lc_r = lcm.LCM("udpm://239.255.76.67:7670?ttl=255")
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self.lc_s = lcm.LCM("udpm://239.255.76.67:7671?ttl=255")
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self.cmd_msg = robot_control_cmd_lcmt()
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self.rec_msg = robot_control_response_lcmt()
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self.send_lock = Lock()
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self.delay_cnt = 0
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self.mode_ok = 0
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self.gait_ok = 0
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self.runing = 1
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def run(self):
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self.lc_r.subscribe("robot_control_response", self.msg_handler)
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self.send_thread.start()
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self.rec_thread.start()
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def msg_handler(self, channel, data):
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self.rec_msg = robot_control_response_lcmt().decode(data)
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if(self.rec_msg.order_process_bar >= 95):
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self.mode_ok = self.rec_msg.mode
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else:
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self.mode_ok = 0
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def rec_responce(self):
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while self.runing:
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self.lc_r.handle()
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time.sleep( 0.002 )
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def Wait_finish(self, mode, gait_id):
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count = 0
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while self.runing and count < 2000: #10s
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if self.mode_ok == mode and self.gait_ok == gait_id:
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return True
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else:
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time.sleep(0.005)
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count += 1
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def send_publish(self):
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while self.runing:
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self.send_lock.acquire()
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if self.delay_cnt > 20: # Heartbeat signal 10HZ, It is used to maintain the heartbeat when life count is not updated
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self.lc_s.publish("robot_control_cmd",self.cmd_msg.encode())
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self.delay_cnt = 0
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self.delay_cnt += 1
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self.send_lock.release()
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time.sleep( 0.005 )
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def Send_cmd(self, msg):
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self.send_lock.acquire()
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self.delay_cnt = 50
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self.cmd_msg = msg
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self.send_lock.release()
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def quit(self):
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self.runing = 0
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self.rec_thread.join()
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self.send_thread.join()
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# Main function
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if __name__ == '__main__':
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main() |