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License: MIT License
Wlkata Mirobot 六自由度机械臂 Python SDK
License: MIT License
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。
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
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