从零到端到端自动驾驶实战-第 10 章-ROSMASTER-X3 机器人开发
Jupyter 开发
http://192.168.31.238:8888/lab/tree/Rosmaster/Sample/3.test_rosmaster.ipynb
密码：yahboom
#!/usr/bin/env python3
#coding=utf-8
# 导入Rosmaster驱动库 Import Rosmaster driver library
from Rosmaster_Lib import Rosmaster
# 创建Rosmaster对象 bot Create the Rosmaster object bot
bot = Rosmaster()
# help 能够打印bot的所有方法和备注内容。
# Help can print all the bot methods and remarks
help(bot)输出：
Rosmaster Serial Opened! Baudrate=115200
Help on Rosmaster in module Rosmaster_Lib.Rosmaster_Lib object:
class Rosmaster(builtins.object)
| # V3.3.9
|
| Methods defined here:
|
| __del__(self)
|
| __init__(self, car_type=1, com='/dev/myserial', delay=0.002, debug=False)
| Initialize self. See help(type(self)) for accurate signature.
|
| clear_auto_report_data(self)
| # 清除单片机自动发送过来的缓存数据
| # Clear the cache data automatically sent by the MCU
|
| create_receive_threading(self)
| # 开启接收和处理数据的线程
| # Start the thread that receives and processes data
|
| get_accelerometer_data(self)
| # 获取加速度计三轴数据，返回a_x, a_y, a_z
| # Get accelerometer triaxial data, return a_x, a_y, a_z
|
| get_akm_default_angle(self)
| # 读取阿克曼类型(R2)小车前轮舵机默认角度。
|
| get_battery_voltage(self)
| # 获取电池电压值
| # Get the battery voltage
|
| get_car_type_from_machine(self)
| # 获取当前底层小车类型。
| # Gets the current car type from machine
|
| get_gyroscope_data(self)
| # 获取陀螺仪三轴数据，返回g_x, g_y, g_z
| # Get the gyro triaxial data, return g_x, g_y, g_z
|
| get_imu_attitude_data(self, ToAngle=True)
| # 获取板子姿态角，返回yaw, roll, pitch
| # ToAngle=True返回角度，ToAngle=False返回弧度。
|
| get_magnetometer_data(self)
| # 获取磁力计三轴数据，返回m_x, m_y, m_z
|
| get_motion_data(self)
| # 获取小车速度，val_vx, val_vy, val_vz
| # Get the car speed, val_vx, val_vy, val_vz
|
| get_motion_pid(self)
| # 获取小车的运动PID参数, 返回[kp, ki, kd]
| # Get the motion PID parameters of the dolly and return [kp, ki, kd]
|
| get_motor_encoder(self)
| # 获取四路电机编码器数据
| # Obtain data of four-channel motor encoder
|
| get_uart_servo_angle(self, s_id)
| # 读取总线舵机的角度，s_id表示要读取的舵机的ID号，s_id=[1-6]
| # Read the Angle of the bus steering gear, s_id indicates the ID number of the steering gear to be read, s_id=[1-6]
|
| get_uart_servo_angle_array(self)
| # 一次性读取六个舵机的角度[xx, xx, xx, xx, xx, xx]，如果某个舵机错误则那一位为-1
| # Read the angles of three steering gear [xx, xx, xx, xx, xx, xx] at one time. If one steering gear is wrong, that one is -1
|
| get_uart_servo_value(self, servo_id)
| # 读取总线舵机位置参数, servo_id=[1-250], 返回：读到的ID，当前位置参数
| # Read bus servo position parameters, servo_id=[1-250], return: read ID, current position parameters
|
| get_version(self)
| # 获取底层单片机版本号，如1.1
| # Get the underlying microcontroller version number, such as 1.1
|
| reset_car_state(self)
| # 重置小车状态，包括停车，关灯，关蜂鸣器
| # Reset car status, including parking, lights off, buzzer off
|
| reset_flash_value(self)
| # 重置小车flash保存的数据，恢复出厂默认值。
| # Reset the car flash saved data, restore the factory default value
|
| set_akm_default_angle(self, angle, forever=False)
| # 设置阿克曼类型(R2)小车前轮的默认角度，angle=[60, 120]
| # forever=True永久保存，=False临时作用。
| # 由于永久保存需要写入芯片flash中，操作时间较长，所以加入delay延迟时间，避免导致单片机丢包的问题。
| # 临时作用反应快，单次有效，重启单片后数据不再保持。
| # Set the default Angle of akerman type (R2) car front wheel, Angle =[60, 120]
| # forever=True for permanent, =False for temporary.
| # Since permanent storage needs to be written into the chip flash, which takes a long time to operate, delay is added to avoid packet loss caused by MCU.
| # Temporary effect fast response, single effective, data will not be maintained after restarting the single chip
|
| set_akm_steering_angle(self, angle, ctrl_car=False)
| # 控制阿克曼类型(R2)小车相对于默认角度的转向角，向左为负数，向右为正数，angle=[-45, 45]
| # ctrl_car=False，只控制舵机角度，=True，控制舵机角度同时修改左右电机的速度。
| # Control the steering Angle of ackman type (R2) car relative to the default Angle, negative for left and positive for right, Angle =[-45, 45]
| # ctrl_car=False, only control the steering gear Angle, =True, control the steering gear Angle and modify the speed of the left and right motors.
|
| set_auto_report_state(self, enable, forever=False)
| # 单片机自动返回数据状态位，默认为开启，如果设置关闭会影响部分读取数据功能。
| # enable=True,底层扩展板会每隔10毫秒发送一包数据，总共四包不同数据，所以每包数据每40毫秒刷新一次。enable=False，则不发送。
| # forever=True永久保存，=False临时作用。
| # The MCU automatically returns the data status bit, which is enabled by default. If the switch is closed, the data reading function will be affected.
| # enable=True, The underlying expansion board sends four different packets of data every 10 milliseconds, so each packet is refreshed every 40 milliseconds.
| # If enable=False, the report is not sent.
| # forever=True for permanent, =False for temporary
|
| set_beep(self, on_time)
| # 蜂鸣器开关，on_time=0：关闭，on_time=1：一直响，
| # on_time>=10：响xx毫秒后自动关闭（on_time是10的倍数）。
| # Buzzer switch. On_time =0: the buzzer is off. On_time =1: the buzzer keeps ringing
| # On_time >=10: automatically closes after xx milliseconds (on_time is a multiple of 10)
|
| set_car_motion(self, v_x, v_y, v_z)
| 输入范围 input range:
| X3: v_x=[-1.0, 1.0], v_y=[-1.0, 1.0], v_z=[-5, 5]
| X3PLUS: v_x=[-0.7, 0.7], v_y=[-0.7, 0.7], v_z=[-3.2, 3.2]
| R2/R2L: v_x=[-1.8, 1.8], v_y=[-0.045, 0.045], v_z=[-3, 3]
|
| set_car_run(self, state, speed, adjust=False)
| # 控制小车向前、向后、向左、向右等运动。
| # state=[0, 7],=0停止,=1前进,=2后退,=3向左,=4向右,=5左旋,=6右旋,=7停车
| # speed=[-100, 100]，=0停止。
| # adjust=True开启陀螺仪辅助运动方向。=False则不开启。(此功能未开通)
| # Control the car forward, backward, left, right and other movements.
| # State =[0~6],=0 stop,=1 forward,=2 backward,=3 left,=4 right,=5 spin left,=6 spin right
| # Speed =[-100, 100], =0 Stop.
| # Adjust =True Activate the gyroscope auxiliary motion direction. If =False, the function is disabled.(This function is not enabled)
|
| set_car_type(self, car_type)
| # 设置小车类型
| # Set car Type
|
| set_colorful_effect(self, effect, speed=255, parm=255)
| # RGB可编程灯带特效展示。
| # effect=[0, 6]，0：停止灯效，1：流水灯，2：跑马灯，3：呼吸灯，4：渐变灯，5：星光点点，6：电量显示
| # speed=[1, 10]，数值越小速度变化越快。
| # parm，可不填，作为附加参数。用法1：呼吸灯效果传入[0, 6]可修改呼吸灯颜色。
| # RGB programmable light band special effects display.
| # Effect =[0, 6], 0: stop light effect, 1: running light, 2: running horse light, 3: breathing light, 4: gradient light, 5: starlight, 6: power display
| # Speed =[1, 10], the smaller the value, the faster the speed changes
| # Parm, left blank, as an additional argument. Usage 1: The color of breathing lamp can be modified by the effect of breathing lamp [0, 6]
|
| set_colorful_lamps(self, led_id, red, green, blue)
| # RGB可编程灯带控制，可单独控制或全体控制，控制前需要先停止RGB灯特效。
| # led_id=[0, 13]，控制对应编号的RGB灯；led_id=0xFF, 控制所有灯。
| # red,green,blue=[0, 255]，表示颜色RGB值。
| # RGB programmable light belt control, can be controlled individually or collectively, before control need to stop THE RGB light effect.
| # Led_id =[0, 13], control the CORRESPONDING numbered RGB lights; Led_id =0xFF, controls all lights.
| # Red,green,blue=[0, 255], indicating the RGB value of the color.
|
| set_motor(self, speed_1, speed_2, speed_3, speed_4)
| # 控制电机PWM脉冲，从而控制速度（未使用编码器测速）。speed_X=[-100, 100]
| # Control PWM pulse of motor to control speed (speed measurement without encoder). speed_X=[-100, 100]
|
| set_pid_param(self, kp, ki, kd, forever=False)
| # PID 参数控制，会影响set_car_motion函数控制小车的运动速度变化情况。默认情况下可不调整。
| # kp ki kd = [0, 10.00], 可输入小数。
| # forever=True永久保存，=False临时作用。
| # 由于永久保存需要写入芯片flash中，操作时间较长，所以加入delay延迟时间，避免导致单片机丢包的问题。
| # 临时作用反应快，单次有效，重启单片后数据不再保持。
| # PID parameter control will affect the set_CAR_motion function to control the speed change of the car. This parameter is optional by default.
| # KP ki kd = [0, 10.00]
| # forever=True for permanent, =False for temporary.
| # Since permanent storage needs to be written into the chip flash, which takes a long time to operate, delay is added to avoid packet loss caused by MCU.
| # Temporary effect fast response, single effective, data will not be maintained after restarting the single chip
|
| set_pwm_servo(self, servo_id, angle)
| # 舵机控制，servo_id：对应ID编号，angle：对应舵机角度值
| # servo_id=[1, 4], angle=[0, 180]
| # Servo control, servo_id: corresponding, Angle: corresponding servo Angle value
|
| set_pwm_servo_all(self, angle_s1, angle_s2, angle_s3, angle_s4)
| # 同时控制四路PWM的角度，angle_sX=[0, 180]
| # At the same time control four PWM Angle, angle_sX=[0, 180]
|
| set_uart_servo(self, servo_id, pulse_value, run_time=500)
| # 控制总线舵机。servo_id:[1-255],表示要控制的舵机的ID号, id=254时, 控制所有已连接舵机。
| # pulse_value=[96,4000]表示舵机要运行到的位置。
| # run_time表示运行的时间(ms),时间越短,舵机转动越快。最小为0，最大为2000
| # Control bus steering gear. Servo_id :[1-255], indicating the ID of the steering gear to be controlled. If ID =254, control all connected steering gear.
| # pulse_value=[96,4000] indicates the position to which the steering gear will run.
| # run_time indicates the running time (ms). The shorter the time, the faster the steering gear rotates. The minimum value is 0 and the maximum value is 2000
|
| set_uart_servo_angle(self, s_id, s_angle, run_time=500)
| # 设置总线舵机角度接口：s_id:[1,6], s_angle: 1-4:[0, 180], 5:[0, 270], 6:[0, 180], 设置舵机要运动到的角度。
| # run_time表示运行的时间(ms),时间越短,舵机转动越快。最小为0，最大为2000
| # Set bus steering gear Angle interface: s_id:[1,6], s_angle: 1-4:[0, 180], 5:[0, 270], 6:[0, 180], set steering gear to move to the Angle.
| # run_time indicates the running time (ms). The shorter the time, the faster the steering gear rotates. The minimum value is 0 and the maximum value is 2000
|
| set_uart_servo_angle_array(self, angle_s=[90, 90, 90, 90, 90, 180], run_time=500)
| # 同时控制机械臂所有舵机的角度。
| # Meanwhile, the Angle of all steering gear of the manipulator is controlled
|
| set_uart_servo_ctrl_enable(self, enable)
| # 设置机械臂控制开关，enable=True正常发送控制协议，=False不发送控制协议
| # Set the control switch of the manipulator. Enable =True Indicates that the control protocol is normally sent; False indicates that the control protocol is not sent
|
| set_uart_servo_id(self, servo_id)
| # 设置总线舵机的ID号(谨慎使用)，servo_id=[1-250]。
| # 运行此函数前请确认只连接一个总线舵机，否则会把所有已连接的总线舵机都设置成同一个ID，造成控制混乱。
| # Set the bus servo ID(Use with caution), servo_id=[1-250].
| # Before running this function, please confirm that only one bus actuator is connected. Otherwise, all connected bus actuators will be set to the same ID, resulting in confusion of control
|
| set_uart_servo_offset(self, servo_id)
| # 设置机械臂的中位偏差，servo_id=0~6， =0全部恢复出厂默认值
| # Run the following command to set the mid-bit deviation of the manipulator: servo_id=0 to 6, =0 Restore the factory default values
|
| set_uart_servo_torque(self, enable)
| # 关闭/打开总线舵机扭矩力, enable=[0, 1]。
| # enable=0:关闭舵机扭矩力，可以用手转动舵机，但命令无法控制转动；
| # enable=1：打开扭矩力，命令可以控制转动，不可以用手转动舵机。
| # Turn off/on the bus steering gear torque force, enable=[0, 1].
| # enable=0: Turn off the torque force of the steering gear, the steering gear can be turned by hand, but the command cannot control the rotation;
| # enable=1: Turn on torque force, command can control rotation, can not turn steering gear by hand
|
| ----------------------------------------------------------------------
| Data descriptors defined here:
|
| __dict__
| dictionary for instance variables (if defined)
|
| __weakref__
| list of weak references to the object (if defined)
调用：
# 读取电池电压值 Read the battery voltage
voltage = bot.get_battery_voltage()
print(voltage)为者常成，行者常至
自由转载-非商用-非衍生-保持署名（创意共享3.0许可证）
