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| 1 | +#!/usr/bin/python |
| 2 | +# -*- coding:utf-8 -*- |
| 3 | +# This code is suitable for using the mycobot 280 M5 device to draw simple patterns |
| 4 | +# such as triangles, squares, and five-pointed stars. |
| 5 | +# It controls the movement of the robotic arm by parsing instructions in a gcode file to implement drawing operations. |
| 6 | + |
| 7 | +# Running this code requires installing the 'pymycobot' |
| 8 | +# driver library and python driver environment. |
| 9 | +# If you don't installed, please refer to here : |
| 10 | +# https://docs.elephantrobotics.com/docs/gitbook-en/7-ApplicationBasePython/ |
| 11 | + |
| 12 | +# The gcode trajectory file used in this code is generated by Elephant luban, please check for details: |
| 13 | +# https://docs.elephantrobotics.com/docs/ultraArm-en/3-HowToUseultraArm/2-SoftwareControl/2-Luban/2-Luban.html |
| 14 | + |
| 15 | +# import library |
| 16 | +import time |
| 17 | +from pymycobot.mycobot import MyCobot # import mycobot library,if don't have, first 'pip install pymycobot' |
| 18 | + |
| 19 | +# use PC and M5 control |
| 20 | +mc = MyCobot('COM14', 115200) # WINDOWS use ，need check port number when you PC |
| 21 | +# mc = MyCobot('/dev/ttyUSB0',115200) # VM linux use |
| 22 | +time.sleep(0.5) |
| 23 | + |
| 24 | +# Set interpolation mode |
| 25 | +mc.set_fresh_mode(0) |
| 26 | +time.sleep(0.5) |
| 27 | +# Send the initial point angle of the robot arm, the speed is 50, |
| 28 | +# it can be customized and modified, as long as the end is facing down |
| 29 | +mc.send_angles([0, -40, -130, 80, 0, 50], 50) |
| 30 | +# Wait 3 seconds for the robot arm to move to the specified angle |
| 31 | +time.sleep(3) |
| 32 | +# Get the current coordinates of the robot arm |
| 33 | +get_coords = mc.get_coords() |
| 34 | +time.sleep(1.5) |
| 35 | +# Save the parsed coordinates |
| 36 | +data_coords = [] |
| 37 | +# Set the drawing speed to 100, and the speed range is 0~100 |
| 38 | +draw_speed = 100 |
| 39 | + |
| 40 | + |
| 41 | +def process_gcode(file_path): |
| 42 | + """ |
| 43 | + Parse the contents of the gcode file, extract the XYZ coordinate values, and save the coordinate data into a list |
| 44 | + :param file_path: Gcode file path |
| 45 | + :return: A coordinate list |
| 46 | + """ |
| 47 | + # The last valid coordinate, using the rx, ry, rz values |
| 48 | + # in the current coordinates of the robot arm as the starting attitude |
| 49 | + last_coords = [0.0, 0.0, 0.0, get_coords[3], get_coords[4], get_coords[5]] |
| 50 | + with open(file_path, 'r') as file: |
| 51 | + # Line-by-line processing instructions |
| 52 | + for line in file: |
| 53 | + command = line.strip() # Remove newline characters and other whitespace characters at the end of the line |
| 54 | + if command.startswith("G0") or command.startswith("G1"): # Move command |
| 55 | + coords = last_coords[:] # Copy the previous valid coordinates |
| 56 | + command_parts = command.split() |
| 57 | + for part in command_parts[1:]: |
| 58 | + if part.startswith("X") or part.startswith("x"): |
| 59 | + coords[0] = float(part[1:]) # Extract and transform X coordinate data |
| 60 | + elif part.startswith("Y") or part.startswith("y"): |
| 61 | + coords[1] = float(part[1:]) # Extract and transform Y coordinate data |
| 62 | + elif part.startswith("Z") or part.startswith("z"): |
| 63 | + coords[2] = float(part[1:]) # Extract and transform Z coordinate data |
| 64 | + if coords[0] == 0.0 and coords[1] == 0.0: # If XY data is missing, use the last valid XY coordinates |
| 65 | + coords[0] = last_coords[0] |
| 66 | + coords[1] = last_coords[1] |
| 67 | + if coords[2] == 0.0: # If Z data is missing, use the last valid Z coordinate |
| 68 | + coords[2] = last_coords[2] |
| 69 | + last_coords = coords |
| 70 | + data_coords.append(coords) # Add coordinates to list and save |
| 71 | + return data_coords |
| 72 | + |
| 73 | + |
| 74 | +type = int(input('Please input 1-4（1-square 2-triangle 3-five point star 4-quit）:')) |
| 75 | +if type == 1: |
| 76 | + # Pass in the gcode file path and obtain the coordinate data |
| 77 | + # File path can be customized |
| 78 | + coords_data = process_gcode('square.nc') |
| 79 | + # Send coordinates to the robot arm one by one |
| 80 | + for i in coords_data: |
| 81 | + mc.send_coords(i, draw_speed, 1) # Send coordinates to the robot arm |
| 82 | + time.sleep(3.5) # Wait 3.5 seconds for the robot arm movement to complete |
| 83 | +elif type == 2: |
| 84 | + coords_data = process_gcode('triangle.nc') |
| 85 | + for i in coords_data: |
| 86 | + mc.send_coords(i, draw_speed, 1) |
| 87 | + time.sleep(3.5) |
| 88 | +elif type == 3: |
| 89 | + coords_data = process_gcode('five_point_star.nc') |
| 90 | + for i in coords_data: |
| 91 | + mc.send_coords(i, draw_speed, 1) |
| 92 | + time.sleep(3.5) |
| 93 | +elif type == 4: |
| 94 | + exit(0) |
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