The wlkata-mirobot-python from mushroom-x

Linux平台下端口名称格式为/dev/ttyUSB could not open port

Linux平台下端口名称格式为/dev/ttyUSB + 编号, 示例如下:
下了：
arm = WlkataMirobot(portname='/dev/ttyUSB0')
Exception：
Traceback (most recent call last):
File "/home/tonyhsiao/wlkata-mirobot-python-main/wlkata_mirobot/wlkata_mirobot_serial.py", line 162, in open
self.serialport.open()
File "/usr/lib/python3/dist-packages/serial/serialposix.py", line 325, in open
raise SerialException(msg.errno, "could not open port {}: {}".format(self._port, msg))
serial.serialutil.SerialException: [Errno 2] could not open port : [Errno 2] No such file or directory: ''

只下arm = WlkataMirobot()能正常運行。

[Mirobot Init] [ERROR] Could not parse status message

Hello,

My code performs multiple operations that are very similar to the following:

from wlkata_mirobot import WlkataMirobot
api = WlkataMirobot()

api.home()
api.set_door_lift_distance(50)
api.GRIPPER_OPEN_PWM_VALUE = 30

def open_gripper():
    api.gripper_open()

def close_gripper():
    api.gripper_close()

while ... :
    open_gripper()
    api.p2p_interpolation(go_to[0], go_to[1], go_to[2] + delta, 0, j5_angle, last_angle, speed= 3000)
            
    api.p2p_interpolation(go_to[0], go_to[1], go_to[2], 0, j5_angle, last_angle, speed= 2000)

    close_gripper()
    api.door_interpolation(-10, -225, 70, 0, 0, 0, speed= 3000)
                
    open_gripper()

    # Error happens between these lines

    api.p2p_interpolation(200, 0, 180, 0, 0, 0, speed= 3000)   
    time.sleep(...)

Please note that some parts of the code that are not necessary to understand the issue are not shown here and the code has been simplified a bit.

After a while, I get the following error (after a random number of loops):

[Mirobot Init] [ERROR] Could not parse status message "<Run,Angle(ABCDXYZ):-5.391,-10.307,44.885,0.000,6.478,-0.847,20.891,Cartesian coordinate(XYZ RxRyRz):187.354,22.275,120.947,3.343,10.523esian coordinate(XYZ RxRyRz):187.354,22.275,120.947,3.343,10.523,53.089,Pump PWM:60,Valve PWM:0,Motion_MODE:1>"
An exception has occurred, use %tb to see the full traceback.

SystemExit: -1

I have the latest version of wlkata-mirobot-python (via pip install).
I have Python 3.8.18.
I have the firmware v20230920-mirobot.hex.

Do you have any idea on how to solve this issue? Thank you

mushroom-x / wlkata-mirobot-python Goto Github PK

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Linux平台下端口名称格式为/dev/ttyUSB could not open port

[Mirobot Init] [ERROR] Could not parse status message

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