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iory / rcb4

MIT License
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Add servo angle adjustment function to avoid damage to robots #76

Closed 708yamaguchi closed 3 months ago

708yamaguchi commented 3 months ago

sample code

import numpy as np
b = np.array([ 3.37600596e-02, -1.08303744e+02,  1.03983764e+02, -7.14824928e+01, 1.32637606e+01,  7.87050132e+01,  2.58525111e+01,  5.69362623e+01])
c = np.array([ 14.95126065, -69.01874268,  89.53876362, -44.51624171, 13.26376059,  79.0087632 ,  19.91251085,  57.27376233])

import time
while True:
    interface.angle_vector(c)
    time.sleep(1)
    if interface.adjust_angle_vector(error_threshold=5) is True:
        break
    time.sleep(1)
    interface.angle_vector(b)
    time.sleep(1)
    if interface.adjust_angle_vector(error_threshold=5) is True:
        break
    time.sleep(1)

https://github.com/user-attachments/assets/7ac6cb1e-d227-486c-bf0e-01e46dfd7463

708yamaguchi commented 3 months ago

In the next step, I will create ROS interface like below:

ri.angle_vector()
ri.adjust_angle_vector(wait_interpolation=True)