网页设计制作网站大一素材,莆田建站培训,哪些网站图片做海报好,有文化底蕴的公众号名字pyserial是一个串口通信驱动库#xff0c;常用的Windows、Linux、MacOS等都可以安装#xff0c;这里我使用的是树莓派4B来测试#xff0c;这块板子还是很强大的#xff0c;我们可以通过pyserial这个库来操作基于这块板子上的机器狗之类的设备。
1、四足机器狗
本人的是四…pyserial是一个串口通信驱动库常用的Windows、Linux、MacOS等都可以安装这里我使用的是树莓派4B来测试这块板子还是很强大的我们可以通过pyserial这个库来操作基于这块板子上的机器狗之类的设备。
1、四足机器狗
本人的是四足机器狗每条腿有三个舵机所以是3个自由度四条腿总共12个舵机也就是12自由度每个舵机分别控制着对应的关节比如根关节控制基节髋关节控制大腿膝关节控制小腿如下图 实物机器人里面的关节矩阵的顺序是前面左边为第一组右边为第二组后面的右边为第三组后面的左边为第四组。
2、OS环境
在安装之前我们一般都先熟悉下本地环境这样方便下载安装对应的版本。
cat /etc/os-releaseNAMEUbuntu
VERSION20.04.4 LTS (Focal Fossa)
IDubuntu
ID_LIKEdebian
PRETTY_NAMEUbuntu 20.04.4 LTS
VERSION_ID20.04
HOME_URLhttps://www.ubuntu.com/
SUPPORT_URLhttps://help.ubuntu.com/
BUG_REPORT_URLhttps://bugs.launchpad.net/ubuntu/
PRIVACY_POLICY_URLhttps://www.ubuntu.com/legal/terms-and-policies/privacy-policy
VERSION_CODENAMEfocal
UBUNTU_CODENAMEfocal
查看芯片的类型uname -a Linux yahboom 5.4.0-1069-raspi #79-Ubuntu SMP PREEMPT Thu Aug 18 18:15:22 UTC 2022 aarch64 aarch64 aarch64 GNU/Linux 可以看到是64位的架构而且是全新的ARMv8架构使用的也是全新的A64指令集其中 raspi 就是Raspberry Pi树莓派的别名这个就是本人的树莓派在Ubuntu 20版本的环境情况。
3、安装pyserial
安装命令pip3 install pyserial 安装好了之后我们来测试下是否成功安装包是pyserial导入模块是serial。
import serial
print(serial.VERSION)
#3.5
#dir(serial)
[CR, EIGHTBITS, FIVEBITS, LF, PARITY_EVEN, PARITY_MARK, PARITY_NAMES, PARITY_NONE, PARITY_ODD, PARITY_SPACE, PortNotOpenError, PosixPollSerial, SEVENBITS, SIXBITS, STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO, Serial, SerialBase, SerialException, SerialTimeoutException, Timeout, VERSION, VTIMESerial, XOFF, XON, __builtins__, __cached__, __doc__, __file__, __loader__, __name__, __package__, __path__, __spec__, __version__, absolute_import, basestring, importlib, io, iterbytes, os, protocol_handler_packages, serial_for_url, serialposix, serialutil, sys, time, to_bytes, unicode]
4、串口通信接口
4.1、list_ports接口列表
首先我们列出有哪些可用的接口
from serial.tools import list_ports
plist list_ports.comports()
print(plist[0][0])
#/dev/ttyAMA0
这个/dev/ttyAMA0就是树莓派4B与上位机的通讯接口得到了接口名称之后我们就可以打开这个接口进行通信了。
4.2、打开接口
ser serial.Serial(/dev/ttyAMA0,115200,timeout5)
这里的超时时间推荐指定避免因为读取不到数据程序会一直等待。
print(ser)
#Serialid0xffff87addc40, openTrue(port/dev/ttyAMA0, baudrate115200, bytesize8, parityN, stopbits1, timeoutNone, xonxoffFalse, rtsctsFalse, dsrdtrFalse)
这里在串口设备名称与端口指的是同一个东西ser.name和ser.port
查看里面包含哪些方法与属性 dir(ser) [BAUDRATES, BAUDRATE_CONSTANTS, BYTESIZES, PARITIES, STOPBITS, _SAVED_SETTINGS, __abstractmethods__, __class__, __del__, __delattr__, __dict__, __dir__, __doc__, __enter__, __eq__, __exit__, __format__, __ge__, __getattribute__, __gt__, __hash__, __init__, __init_subclass__, __iter__, __le__, __lt__, __module__, __ne__, __new__, __next__, __reduce__, __reduce_ex__, __repr__, __setattr__, __sizeof__, __str__, __subclasshook__, __weakref__, _abc_impl, _baudrate, _break_state, _bytesize, _checkClosed, _checkReadable, _checkSeekable, _checkWritable, _dsrdtr, _dtr_state, _exclusive, _inter_byte_timeout, _parity, _port, _reconfigure_port, _rs485_mode, _rts_state, _rtscts, _set_rs485_mode, _set_special_baudrate, _stopbits, _timeout, _update_break_state, _update_dtr_state, _update_rts_state, _write_timeout, _xonxoff, applySettingsDict, apply_settings, baudrate, break_condition, bytesize, cancel_read, cancel_write, cd, close, closed, cts, dsr, dsrdtr, dtr, exclusive, fd, fileno, flush, flushInput, flushOutput, getCD, getCTS, getDSR, getRI, getSettingsDict, get_settings, inWaiting, in_waiting, interCharTimeout, inter_byte_timeout, iread_until, isOpen, is_open, isatty, name, nonblocking, open, out_waiting, parity, pipe_abort_read_r, pipe_abort_read_w, pipe_abort_write_r, pipe_abort_write_w, port, portstr, read, read_all, read_until, readable, readall, readinto, readline, readlines, reset_input_buffer, reset_output_buffer, ri, rs485_mode, rts, rtscts, seek, seekable, sendBreak, send_break, setDTR, setPort, setRTS, set_input_flow_control, set_output_flow_control, stopbits, tell, timeout, truncate, writable, write, writeTimeout, write_timeout, writelines, xonxoff] 4.3、字节数组
打开串口接口我们试着来读取一行b_dataser.readline() #bU\x00\t\x12\x01\x14\xcf\x00\xaa 转成列表就是十进制的形式看起来就比较直观点
list(bU\x00\t\x12\x01\x14\xcf\x00\xaa)
#[85, 0, 9, 18, 1, 20, 207, 0, 170]
这里可以看到我们实际读取的是长度为9的一个数组我们思考下我们操作机器人应该也是写入长度为9的数组就可以控制机器人的各种状态了事实证明想法是正确的。
4.4、serial参数设置
一些常见的重要参数如下 port串口的设备名或接口(None)baudrate波特率50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 576000, 921600, 1000000, 1152000, 1500000, 2000000, 2500000, 3000000, 3500000, 4000000bytesize数据位每个字节的位数一般是7或8默认是8parity校验位PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACEstopbits停止位1位停止位、1.5位停止位、2位停止位(STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO)xonxoff软件流控True, Falsertscts硬件RTS/CTS流控True, Falsedsr/dtr硬件DSR/DTR流控 True, Falsetimeout读超时推荐指定避免堵塞writeTimeout写超时 其中波特率需要注意以下三点 传输速度波特率越高传输速度越快但也会增加传输错误的可能性。传输距离波特率越高传输距离越短因为高速传输会导致信号衰减。硬件支持波特率需要与硬件设备匹配如果设备不支持高速传输则无法使用高波特率。 5、机器狗
有了上面的知识铺垫我们来实际操控机器狗先让机器狗往前跑动起来。源码有比较多的功能这里我只针对机器狗的向前跑动将代码精简出来让我们对这个串口的通信有一个更加清晰的了解
5.1、代码
gedit MYDOG.py
import serialdef conver2u8(data, limit):return int(128 128 * data / limit)class DOG():def __init__(self,port/dev/ttyAMA0):self.ser serial.Serial(port, 115200, timeout0.5)#往前跑动def moveX(self,step):u8v conver2u8(step, 25)mode 0x01order 0x30value []value_sum 0value.append(u8v)value_sum value_sum u8vsum_data ((1 0x08) mode order value_sum) % 256sum_data 255 - sum_datatx [0x55, 0x00, (1 0x08), mode, order]tx.extend(value)tx.extend([sum_data, 0x00, 0xAA])print(tx)self.ser.write(tx)# 停止def stop(self):self.moveX(0)测试下结果
import MYDOG
mydog MYDOG.DOG()
mydog.moveX(5)
这样机器狗就会往前跑动了step是设置机器狗的步伐宽度可以看到初始化接口的设备和波特率以及推荐加上超时时间我们就通过write()方法进行写入即可。mydog.stop()也就是发送的步伐宽度为0就可以让机器狗停止了。
5.2、ser.write写入
我们可以打印tx变量的值这样就可以查看写入了一些什么内容 跑动时 [85, 0, 9, 1, 48, 153, 44, 0, 170] bU\x00\t\x01\x30\x99\x2c\x00\xaa 停止时 [85, 0, 9, 1, 48, 128, 69, 0, 170] bU\x00\t\x01\x30\x80\x45\x00\xaa 那么从上面分析来看我们只需要写入一串列表数值即可所以精简为如下三条命令就可以让机器狗跑动起来。 精简代码如下
import serial
serserial.Serial(/dev/ttyAMA0, 115200, timeout0.5)
ser.write([85, 0, 9, 1, 48, 153, 44, 0, 170])
当然这里的十进制也可以使用十六进制的形式代替
ser.write([0x55, 0x0, 0x9, 0x1, 0x30, 0x99, 0x2c, 0x0, 0xaa])
5.3、ser.readline读取
再次来查看下接收到的信息这里将超时时间调大点不然获取不到数据
import serial
serserial.Serial(/dev/ttyAMA0, 115200, timeout5)
ser.readline()
跑动时bU\x00\t\x01\x30\x99\x2c\x00\xaa 停止时bU\x00\t\x12\x01d\x7f\x00\xaa
到这里就完成了串口通讯的读写操作这里的值是字节数组、十进制数组、十六进制数组等都是等价的也就是说我们写入这样的字节数组ser.write(bU\x00\t\x01\x30\x99\x2c\x00\xaa)同样也是可以让机器狗跑起来效果是一样的。
6、完整代码与功能
上述是通过写入串口数据来让机器狗跑动起来熟悉串口库的使用这里贴出完整代码里面常见的操作机器狗的功能都有代码如下
import serial
import struct
import time__version__ 2.0.7
__last_modified__ 2022/11/18
ORDER 用来存放命令地址和对应数据
ORDER is used to store the command address and corresponding dataORDER {BATTERY: [0x01, 100],PERFORM: [0x03, 0],CALIBRATION: [0x04, 0],UPGRADE: [0x05, 0],MOVE_TEST: [0x06, 1],FIRMWARE_VERSION: [0x07],GAIT_TYPE: [0x09, 0x00],BT_NAME: [0x13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],UNLOAD_MOTOR: [0x20, 0],LOAD_MOTOR: [0x20, 0],VX: [0x30, 128],VY: [0x31, 128],VYAW: [0x32, 128],TRANSLATION: [0x33, 0, 0, 0],ATTITUDE: [0x36, 0, 0, 0],PERIODIC_ROT: [0x39, 0, 0, 0],MarkTime: [0x3C, 0],MOVE_MODE: [0x3D, 0],ACTION: [0x3E, 0],PERIODIC_TRAN: [0x80, 0, 0, 0],MOTOR_ANGLE: [0x50, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128],MOTOR_SPEED: [0x5C, 1],LEG_POS: [0x40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],IMU: [0x61, 0],ROLL: [0x62, 0],PITCH: [0x63, 0],YAW: [0x64, 0]
}
PARAM 用来存放机器狗的参数限制范围
PARAM is used to store the parameter limit range of the robot dog
PARAM {TRANSLATION_LIMIT: [35, 18, [75, 115]], # X Y Z 平移范围 Scope of translationATTITUDE_LIMIT: [20, 15, 11], # Roll Pitch Yaw 姿态范围 Scope of postureLEG_LIMIT: [35, 18, [75, 115]], # 腿长范围 Scope of the legMOTOR_LIMIT: [[-73, 57], [-66, 93], [-31, 31]], # 下 中 上 舵机范围 Lower, middle and upper steering gear rangePERIOD_LIMIT: [[1.5, 8]],MARK_TIME_LIMIT: [10, 35], # 原地踏步高度范围 Stationary height rangeVX_LIMIT: 25, # X速度范围 X velocity rangeVY_LIMIT: 18, # Y速度范围 Y velocity rangeVYAW_LIMIT: 100 # 旋转速度范围 Rotation speed range
}def search(data, list):for i in range(len(list)):if data list[i]:return i 1return -1def conver2u8(data, limit, mode0):将实际参数转化为0到255的单字节数据Convert the actual parameters to single byte data from 0 to 255max 0xffif mode 0:min 0x00else:min 0x01if not isinstance(limit, list):if data limit:return maxelif data -limit:return minelse:return int(128 128 * data / limit)else:limitmin limit[0]limitmax limit[1]if data limitmax:return maxelif data limitmin:return minelse:return int(255 / (limitmax - limitmin) * (data - limitmin))def conver2float(data, limit):if not isinstance(limit, list):return (data - 128.0) / 255.0 * limitelse:limitmin limit[0]limitmax limit[1]return data / 255.0 * (limitmax - limitmin) limitmindef Byte2Float(rawdata):a bytearray()a.append(rawdata[3])a.append(rawdata[2])a.append(rawdata[1])a.append(rawdata[0])return struct.unpack(!f, a)[0]class DOGZILLA():在实例化DOGZILLA时需要指定上位机与机器狗的串口通讯接口When instantiating DOGZILLA, you need to specify the serialcommunication interface between the upper computer and the machine dogdef __init__(self, port/dev/ttyAMA0):self.ser serial.Serial(port, 115200, timeout0.5)self.rx_FLAG 0self.rx_COUNT 0self.rx_ADDR 0self.rx_LEN 0self.rx_data bytearray(50)self.__delay 0.05passdef __send(self, key, index1, len1):mode 0x01order ORDER[key][0] index - 1value []value_sum 0for i in range(0, len):value.append(ORDER[key][index i])value_sum value_sum ORDER[key][index i]sum_data ((len 0x08) mode order value_sum) % 256sum_data 255 - sum_datatx [0x55, 0x00, (len 0x08), mode, order]tx.extend(value)tx.extend([sum_data, 0x00, 0xAA])self.ser.write(tx)def __read(self, addr, read_len1):mode 0x02sum_data (0x09 mode addr read_len) % 256sum_data 255 - sum_datatx [0x55, 0x00, 0x09, mode, addr, read_len, sum_data, 0x00, 0xAA]# time.sleep(0.1)self.ser.flushInput()self.ser.write(tx)def stop(self):self.move_x(0)self.move_y(0)self.mark_time(0)self.turn(0)def move(self, direction, step):if direction in [x, X]:self.move_x(step)elif direction in [y, Y]:self.move_y(step)else:print(ERROR!Invalid direction!)def move_x(self, step):if step 20:step 20elif step -20:step -20ORDER[VX][1] conver2u8(step, PARAM[VX_LIMIT])self.__send(VX)def move_y(self, step):if step 18:step 18elif step -18:step -18ORDER[VY][1] conver2u8(step, PARAM[VY_LIMIT])self.__send(VY)def turn(self, step):if step 70:step 70elif step -70:step -70elif 0 step 30:step 30elif -30 step 0:step -30ORDER[VYAW][1] conver2u8(step, PARAM[VYAW_LIMIT])self.__send(VYAW)def forward(self, step):self.move_x(abs(step))def back(self, step):self.move_x(-abs(step))def left(self, step):self.move_y(abs(step))def right(self, step):self.move_y(-abs(step))def turnleft(self, step):self.turn(abs(step))def turnright(self, step):self.turn(-abs(step))def __translation(self, direction, data):index search(direction, [x, y, z])if index -1:print(ERROR!Direction must be x, y or z)returnORDER[TRANSLATION][index] conver2u8(data, PARAM[TRANSLATION_LIMIT][index - 1])self.__send(TRANSLATION, index)def translation(self, direction, data):使机器狗足端不动身体进行三轴平动Keep the robots feet stationary and the body makes three-axis translationif (isinstance(direction, list)):if (len(direction) ! len(data)):print(ERROR!The length of direction and data dont match!)returnfor i in range(len(data)):self.__translation(direction[i], data[i])else:self.__translation(direction, data)def __attitude(self, direction, data):index search(direction, [r, p, y])if index -1:print(ERROR!Direction must be r, p or y)returnORDER[ATTITUDE][index] conver2u8(data, PARAM[ATTITUDE_LIMIT][index - 1])self.__send(ATTITUDE, index)def attitude(self, direction, data):使机器狗足端不动身体进行三轴转动Keep the robots feet stationary and the body makes three-axis rotationif (isinstance(direction, list)):if (len(direction) ! len(data)):print(ERROR!The length of direction and data dont match!)returnfor i in range(len(data)):self.__attitude(direction[i], data[i])else:self.__attitude(direction, data)def action(self, action_id):使机器狗狗指定的预设动作Make the robot do the specified preset actionif action_id 0 or action_id 255:print(ERROR!Illegal Action ID!)returnORDER[ACTION][1] action_idself.__send(ACTION)def reset(self):机器狗停止运动所有参数恢复到初始状态The robot dog stops moving and all parameters return to the initial stateself.action(255)time.sleep(0.2)def leg(self, leg_id, data):控制机器狗的单腿的三轴移动Control the three-axis movement of a single leg of the robotvalue [0, 0, 0]if leg_id not in [1, 2, 3, 4]:print(Error!Illegal Index!)returnif len(data) ! 3:message Error!Illegal Value!returnfor i in range(3):try:value[i] conver2u8(data[i], PARAM[LEG_LIMIT][i])except:print(Error!Illegal Value!)for i in range(3):index 3 * (leg_id - 1) i 1ORDER[LEG_POS][index] value[i]self.__send(LEG_POS, index)def __motor(self, index, data):ORDER[MOTOR_ANGLE][index] conver2u8(data, PARAM[MOTOR_LIMIT][index % 3 - 1])self.__send(MOTOR_ANGLE, index)def motor(self, motor_id, data):控制机器狗单个舵机转动Control the rotation of a single steering gear of the robotMOTOR_ID [11, 12, 13, 21, 22, 23, 31, 32, 33, 41, 42, 43]if isinstance(motor_id, list):if len(motor_id) ! len(data):print(Error!Length Mismatching!)returnindex []for i in range(len(motor_id)):temp_index search(motor_id[i], MOTOR_ID)if temp_index -1:print(Error!Illegal Index!)returnindex.append(temp_index)for i in range(len(index)):self.__motor(index[i], data[i])else:index search(motor_id, MOTOR_ID)self.__motor(index, data)def unload_motor(self, leg_id):if leg_id not in [1, 2, 3, 4]:print(ERROR!leg_id must be 1, 2, 3 or 4)returnORDER[UNLOAD_MOTOR][1] 0x10 leg_idself.__send(UNLOAD_MOTOR)def unload_allmotor(self):ORDER[UNLOAD_MOTOR][1] 0x01self.__send(UNLOAD_MOTOR)def load_motor(self, leg_id):if leg_id not in [1, 2, 3, 4]:print(ERROR!leg_id must be 1, 2, 3 or 4)returnORDER[LOAD_MOTOR][1] 0x20 leg_idself.__send(LOAD_MOTOR)def load_allmotor(self):ORDER[LOAD_MOTOR][1] 0x00self.__send(LOAD_MOTOR)def __periodic_rot(self, direction, period):index search(direction, [r, p, y])if index -1:print(ERROR!Direction must be r, p or y)returnif period 0:ORDER[PERIODIC_ROT][index] 0else:ORDER[PERIODIC_ROT][index] conver2u8(period, PARAM[PERIOD_LIMIT][0], mode1)self.__send(PERIODIC_ROT, index)def periodic_rot(self, direction, period):使机器狗周期性转动Make the robot rotate periodicallyif (isinstance(direction, list)):if (len(direction) ! len(period)):print(ERROR!The length of direction and data dont match!)returnfor i in range(len(period)):self.__periodic_rot(direction[i], period[i])else:self.__periodic_rot(direction, period)def __periodic_tran(self, direction, period):index search(direction, [x, y, z])if index -1:print(ERROR!Direction must be x, y or z)returnif period 0:ORDER[PERIODIC_TRAN][index] 0else:ORDER[PERIODIC_TRAN][index] conver2u8(period, PARAM[PERIOD_LIMIT][0], mode1)self.__send(PERIODIC_TRAN, index)def periodic_tran(self, direction, period):使机器狗周期性平动Make the robot translate periodicallyif (isinstance(direction, list)):if (len(direction) ! len(period)):print(ERROR!The length of direction and data dont match!)returnfor i in range(len(period)):self.__periodic_tran(direction[i], period[i])else:self.__periodic_tran(direction, period)def mark_time(self, data):使机器狗原地踏步Make the robot marks timeif data 0:ORDER[MarkTime][1] 0else:ORDER[MarkTime][1] conver2u8(data, PARAM[MARK_TIME_LIMIT], mode1)self.__send(MarkTime)def pace(self, mode):改变机器狗的踏步频率Change the step frequency of the robotif mode normal:value 0x00elif mode slow:value 0x01elif mode high:value 0x02else:print(ERROR!Illegal Value!)returnORDER[MOVE_MODE][1] valueself.__send(MOVE_MODE)def gait_type(self, mode):改变机器狗的步态Change the gait of the robotif mode trot:value 0x00elif mode walk:value 0x01elif mode high_walk:value 0x02ORDER[GAIT_TYPE][1] valueself.__send(GAIT_TYPE)def imu(self, mode):开启/关闭机器狗自稳状态Turn on / off the self stable state of the robot dogif mode ! 0 and mode ! 1:print(ERROR!Illegal Value!)returnORDER[IMU][1] modeself.__send(IMU)def perform(self, mode):开启/关闭机器狗循环做动作状态Turn on / off the action status of the robot dog cycleif mode ! 0 and mode ! 1:print(ERROR!Illegal Value!)returnORDER[PERFORM][1] modeself.__send(PERFORM)def motor_speed(self, speed):调节舵机转动速度只在单独控制舵机的情况下有效Adjust the steering gear rotation speed,only effective when control the steering gear separatelyif speed 0 or speed 255:print(ERROR!Illegal Value!The speed parameter needs to be between 0 and 255!)returnif speed 0:speed 1ORDER[MOTOR_SPEED][1] speedself.__send(MOTOR_SPEED)def read_motor(self, out_intFalse):读取12个舵机的角度 Read the angles of the 12 steering gearself.__read(ORDER[MOTOR_ANGLE][0], 12)time.sleep(self.__delay)angle []if self.__unpack():for i in range(12):index round(conver2float(self.rx_data[i], PARAM[MOTOR_LIMIT][i % 3]), 2)if out_int:if index 0:angle.append(int(index0.5))elif index 0:angle.append(int(index-0.5))else:angle.append(int(index))else:angle.append(index)return angledef read_battery(self):self.__read(ORDER[BATTERY][0], 1)time.sleep(self.__delay)battery 0if self.__unpack():battery int(self.rx_data[0])return batterydef read_version(self):self.__read(ORDER[FIRMWARE_VERSION][0], 10)time.sleep(self.__delay)firmware_version Nullif self.__unpack():# data self.rx_data[0:10]data self.rx_data[2:10]firmware_version data.decode(utf-8).strip(\0)return firmware_versiondef read_roll(self, out_intFalse):self.__read(ORDER[ROLL][0], 4)time.sleep(self.__delay)roll 0if self.__unpack():roll Byte2Float(self.rx_data)if out_int:tmp int(roll)return tmpreturn round(roll, 2)def read_pitch(self, out_intFalse):self.__read(ORDER[PITCH][0], 4)time.sleep(self.__delay)pitch 0if self.__unpack():pitch Byte2Float(self.rx_data)if out_int:tmp int(pitch)return tmpreturn round(pitch, 2)def read_yaw(self, out_intFalse):self.__read(ORDER[YAW][0], 4)time.sleep(self.__delay)yaw 0if self.__unpack():yaw Byte2Float(self.rx_data)if out_int:tmp int(yaw)return tmpreturn round(yaw, 2)def __unpack(self):n self.ser.inWaiting()rx_CHECK 0if n:data self.ser.read(n)for num in data:if self.rx_FLAG 0:if num 0x55:self.rx_FLAG 1else:self.rx_FLAG 0elif self.rx_FLAG 1:if num 0x00:self.rx_FLAG 2else:self.rx_FLAG 0elif self.rx_FLAG 2:self.rx_LEN numself.rx_FLAG 3elif self.rx_FLAG 3:self.rx_TYPE numself.rx_FLAG 4elif self.rx_FLAG 4:self.rx_ADDR numself.rx_FLAG 5elif self.rx_FLAG 5:if self.rx_COUNT (self.rx_LEN - 9):self.rx_data[self.rx_COUNT] numself.rx_COUNT 0self.rx_FLAG 6elif self.rx_COUNT self.rx_LEN - 9:self.rx_data[self.rx_COUNT] numself.rx_COUNT self.rx_COUNT 1elif self.rx_FLAG 6:for i in self.rx_data[0:(self.rx_LEN - 8)]:rx_CHECK rx_CHECK irx_CHECK 255 - (self.rx_LEN self.rx_TYPE self.rx_ADDR rx_CHECK) % 256if num rx_CHECK:self.rx_FLAG 7else:self.rx_FLAG 0self.rx_COUNT 0self.rx_ADDR 0self.rx_LEN 0elif self.rx_FLAG 7:if num 0x00:self.rx_FLAG 8else:self.rx_FLAG 0self.rx_COUNT 0self.rx_ADDR 0self.rx_LEN 0elif self.rx_FLAG 8:if num 0xAA:self.rx_FLAG 0self.rx_COUNT 0return Trueelse:self.rx_FLAG 0self.rx_COUNT 0self.rx_ADDR 0self.rx_LEN 0return Falsedef calibration(self, state):用于软件标定请谨慎使用 For software calibration, please use with caution!!!if state:ORDER[CALIBRATION][1] 1else:ORDER[CALIBRATION][1] 0self.__send(CALIBRATION)if __name__ __main__:g_dog DOGZILLA()version g_dog.read_version()print(version:, version)其余的一些功能也都解释如下先导入DOGZILLA
from DOGZILLALib import DOGZILLA
mydog DOGZILLA()
左转弯mydog.turn(50) 右转弯mydog.turn(-50) 这个是偏航角VYAW速度的设置
左平移mydog.left(10) 右平移mydog.right(10) 这个是Y轴的VY的速度设置
机器狗足端不动沿着三轴分别平移mydog.translation([x,y,z],[-30,-10,100]) 这里的机器狗将分别往后-30往右-10往上100这样的运动
机器狗足端不动沿着三轴分别转动mydog.attitude([r,p,y],[30,60,90])
这里的RPY分别是ROLL横滚角、PITCH俯仰角、YAW偏航角对这部分感兴趣的可以查阅欧拉角(横滚角、俯仰角、偏航角)、旋转矩阵、四元数的转换与解决万向节死锁
预设的动作mydog.action比如撒尿动作mydog.action(11)
停止运动所有参数恢复到初始状态mydog.reset()
单腿运动mydog.leg(2,[-40,-30,40])这里是第二条腿(前面右边)沿着X轴后退40y轴往右30Z轴往下40
单个舵机转动mydog.motor(22,60)这里是第二条的髋关节舵机控制大腿的编号
周期性转动mydog.periodic_rot([p,y],[20,30])RPY,这里是选P,Y角做转动也就是俯仰角和偏航角
周期性平动mydog.periodic_tran([x,y],[20,30])这里是沿着X,Y轴的平移
原地踏步mydog.mark_time(1) 踏步频率mydog.pace(slow) # normal、slow、high
机器狗步态mydog.gait_type(walk) # trot、walk、high_walk
开启/关闭机器狗自稳状态mydog.imu(0)
开启/关闭机器狗循环做动作状态mydog.perform(1)
舵机转速(只在单独控制舵机的情况下有效)mydog.motor_speed(10)
读取12个舵机的角度mydog.read_motor() #[15.2, 40.62, 0.61, 14.18, 41.25, 0.85, 14.69, 51.22, 0.61, 15.2, 50.6, 0.36] 这里会随着机器狗的运动数据会实时变化。
分别读取机器狗的横滚角、俯仰角、偏航角同样的舵机的变化也将导致欧拉角的实时变化。
mydog.read_roll() # 0.37
mydog.read_pitch() # 0.17
mydog.read_yaw() # -21.3
电池电量mydog.read_battery() # 81 固件版本mydog.read_version() # 3.1.7-Y
到这里就结束了最后总结下主要是通过机器狗来熟悉这个pyserial串口通讯库整个代码看下来是比较简洁和高效只需要连接到指定的串口接口以及指定波特率与超时时间就能够轻松建立起通讯连接然后根据地址写入对应的数据就可以完成对机器狗的操作了。
