mian.py测试完成的多轨迹运动控制代码
This commit is contained in:
琉璃月光
@ -2,14 +2,14 @@
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import numpy as np
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def circle_trajectory(center=(80, 0), radius=40, num_points=60):
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def circle_trajectory(center=(80, 0), radius=40, num_points=200):
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""" 圆形轨迹 """
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angles = np.linspace(0, 2 * np.pi, num_points)
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x_list = center[0] + radius * np.cos(angles)
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y_list = center[1] + radius * np.sin(angles)
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return x_list, y_list
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def line_trajectory(start=(40, 0), end=(120, 0), num_points=20):
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def line_trajectory(start=(40, 0), end=(120, 0), num_points=100):
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""" 直线轨迹 """
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t = np.linspace(0, 1, num_points)
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x_list = start[0] + t * (end[0] - start[0])
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@ -53,7 +53,7 @@ def line_trajectory_fix(start=(40, 0), end=(120, 100), vx=0.1, vy=0.1, num_point
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return x_list, y_list
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def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=60):
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def ellipse_trajectory(center=(80, 0), rx=50, ry=25, num_points=200):
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""" 椭圆轨迹 """
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angles = np.linspace(0, 2 * np.pi, num_points)
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x_list = center[0] + rx * np.cos(angles)
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457
jicheng1.py
457
jicheng1.py
@ -1,457 +0,0 @@
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# ==================== 五连杆机械臂轨迹控制集成版（S型速度 + 五次插值）====================
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# 功能：轨迹生成 + 逆解 + S型速度规划 + 五次多项式平滑控制 + 动画显示 + 关节角度可视化 + FK 验证
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# =======================================================================================
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import time
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import numpy as np
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import matplotlib.pyplot as plt
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from matplotlib.animation import FuncAnimation
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from time import perf_counter # 高精度计时
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# 设置中文字体和负号显示
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plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong']
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plt.rcParams['axes.unicode_minus'] = False
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# ------------------------ 调试开关 ------------------------
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DEBUG_MODE = True # <<< 设为 False 控制真实电机
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# 导入运动学和轨迹函数（确保路径正确）
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try:
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from calculate.ik import inverseF
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from calculate.fk import forwardF
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from calculate.trajectory import (
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circle_trajectory,
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line_trajectory,
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line_trajectory_fix,
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ellipse_trajectory,
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square_trajectory,
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triangle_trajectory
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)
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except ImportError as e:
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print(f"【警告】无法导入运动学模块: {e}, 使用 DEBUG_MODE")
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DEBUG_MODE = True
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# -------------------- 非 Debug 模式导入硬件库 --------------------
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if not DEBUG_MODE:
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try:
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from DM_CAN.DM_CAN import Motor, MotorControl, DM_Motor_Type, Control_Type
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import serial
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except ImportError as e:
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print(f"硬件库导入失败: {e}")
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exit(1)
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else:
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print("【DEBUG MODE】: 已启用调试模式，不连接真实硬件。")
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# ------------------------ 机械臂参数 ------------------------
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L1 = 250 # 左臂长度 (mm)
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L2 = 300
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L3 = 300
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L4 = 250 # 右臂长度
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L0 = 250 # 基座右端偏移
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# ------------------------ 电机与通信配置 ------------------------
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MOTOR1_ID = 0x01
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MOTOR2_ID = 0x04
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CAN_SERIAL_PORT = '/dev/ttyACM0'
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BAUD_RATE = 921600
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KP = 50.0
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KD = 1.0
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DT = 0.001 # 控制周期 1ms
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# ------------------------ 全局变量 ------------------------
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motor1 = motor2 = motor_control = None
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current_theta1 = current_theta4 = 0.0
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x_list = y_list = [] # 轨迹点
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line = None
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# ------------------------ 精确延时 ------------------------
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def busy_wait(dt):
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"""高精度延时"""
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start = perf_counter()
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while perf_counter() - start < dt:
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pass
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# ------------------------ 角度连续性调整 ------------------------
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def adjust_angle_continuity(new_angle, prev_angle):
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"""
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防止角度跳变（如 3.14 → -3.14），保持连续
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"""
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diff = new_angle - prev_angle
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while diff > np.pi:
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diff -= 2 * np.pi
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while diff < -np.pi:
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diff += 2 * np.pi
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return prev_angle + diff
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# ==================== 五次多项式插值 ====================
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def quintic_interpolation(q0, qf, t, T):
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"""
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五次多项式平滑插值
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q0: 起始位置
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qf: 目标位置
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t: 当前时间（0~T）
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T: 总时间
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返回：平滑位置
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"""
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s = t / T
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s = np.clip(s, 0, 1) # 限制在0~1
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alpha = s**3 * (10 - 15*s + 6*s**2)
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return q0 + (qf - q0) * alpha
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# ==================== S型速度规划（5段式）====================
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def s_curve_timing(total_time, dt=0.001, max_accel_ratio=2.0):
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"""
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生成 S 型速度剖面的时间参数化 s(t) ∈ [0,1]
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使用 5 段：加加速 → 匀加速 → 匀速 → 匀减速 → 减减速
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"""
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t_list = np.arange(0, total_time, dt)
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if len(t_list) == 0:
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t_list = np.array([0])
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# 参数：最大加速度设为 4v/T（S型典型）
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v_max = 0.5 * max_accel_ratio * total_time # 归一化速度
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a_max = 4 * v_max / total_time # 加速度
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t_jerk = v_max / a_max # 加加速时间
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t_acc = 2 * t_jerk # 总加速时间
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t_cruise = total_time - 2 * t_acc
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if t_cruise < 0:
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t_acc = total_time / 2
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t_jerk = t_acc / 2
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t_cruise = 0
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s_list = []
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for t in t_list:
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if t <= t_jerk:
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s = (a_max / t_jerk) * t**3 / 6
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elif t <= t_acc - t_jerk:
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t2 = t - t_jerk
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s = (a_max / t_jerk) * t_jerk**3 / 6 + a_max * t_jerk * t2 + 0.5 * a_max * t2**2
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elif t <= t_acc:
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t3 = t - (t_acc - t_jerk)
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s1 = (a_max / t_jerk) * t_jerk**3 / 6
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s2 = a_max * t_jerk * (t_acc - 2*t_jerk) + 0.5 * a_max * (t_acc - 2*t_jerk)**2
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s3 = a_max * t_jerk * t3 - 0.5 * a_max * t3**2
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s = s1 + s2 + s3
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elif t <= t_acc + t_cruise:
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t4 = t - t_acc
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s = s_list[-1] if s_list else 0
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s += v_max * t4
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else:
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t5 = t - (t_acc + t_cruise)
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if t5 <= t_jerk:
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s = 1 - (v_max * (total_time - t) - 0.5 * a_max * t5**2)
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elif t5 <= t_acc - t_jerk:
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s = 1 - (v_max * (total_time - t - t_jerk) - 0.5 * a_max * t_jerk**2)
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else:
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t6 = t5 - (t_acc - t_jerk)
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s = 1 - (a_max / t_jerk) * t6**3 / 6
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s_list.append(s)
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# 归一化到 [0,1]
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s_max = max(s_list) if s_list else 1
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s_normalized = np.array(s_list) / s_max if s_max > 0 else np.zeros_like(s_list)
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return t_list, s_normalized
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# ------------------------ 初始化电机 ------------------------
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def init_motors():
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global motor1, motor2, motor_control
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if DEBUG_MODE:
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print("【DEBUG】跳过电机初始化")
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motor1 = motor2 = type('Motor', (), {'id': 0})()
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motor_control = type('MotorControl', (), {
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'enable': lambda x: True,
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'disable': lambda x: None,
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'controlMIT': lambda m, kp, kd, pos, vel, torq: None,
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'refresh_motor_status': lambda m: None,
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'switchControlMode': lambda m, mode: None,
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'save_motor_param': lambda m: None
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})()
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return motor1, motor2, motor_control
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try:
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can_serial = serial.Serial(CAN_SERIAL_PORT, BAUD_RATE, timeout=0.5)
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print(f"CAN 串口 {CAN_SERIAL_PORT} 打开成功")
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except Exception as e:
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print(f"无法打开串口: {e}")
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exit(1)
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motor_control = MotorControl(can_serial)
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motor1 = Motor(DM_Motor_Type.DM4310, MOTOR1_ID, 0x11)
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motor2 = Motor(DM_Motor_Type.DM4310, MOTOR2_ID, 0x15)
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motor_control.addMotor(motor1)
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motor_control.addMotor(motor2)
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motor_control.switchControlMode(motor1, Control_Type.MIT)
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motor_control.switchControlMode(motor2, Control_Type.MIT)
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time.sleep(0.1)
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motor_control.save_motor_param(motor1)
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motor_control.save_motor_param(motor2)
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motor_control.enable(motor1)
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motor_control.enable(motor2)
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print("电机已使能。")
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return motor1, motor2, motor_control
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# ------------------------ MIT 控制函数 ------------------------
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def control_two_motors_mit(theta1, theta4):
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"""发送 MIT 控制指令（角度单位：弧度）"""
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global current_theta1, current_theta4
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pos1 = np.degrees(theta1)
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pos4 = np.degrees(theta4)
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vel = 0.0
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torq = 0.0
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if not DEBUG_MODE:
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motor_control.controlMIT(motor1, KP, KD, pos1, vel, torq)
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motor_control.controlMIT(motor2, KP, KD, pos4, vel, torq)
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else:
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print(f"[DEBUG] 控制 -> θ1={pos1:.2f}°, θ4={pos4:.2f}°")
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current_theta1 = theta1
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current_theta4 = theta4
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# ------------------------ 平滑轨迹执行函数（带 S 型速度）------------------------
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def execute_smooth_trajectory(x_list, y_list,
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total_time=8.0,
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kp=KP, kd=KD, dt=DT,
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read_interval=0.01):
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"""
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执行平滑轨迹：使用 S 型速度剖面 + 五次多项式插值
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返回: (time_log, theta1_log, theta4_log, x_fk_log, y_fk_log)
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"""
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global motor_control, motor1, motor2
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time_log = []
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theta1_log = []
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theta4_log = []
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x_fk_log = []
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y_fk_log = []
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# FK 参数
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l1, l2, l3, l4, l5 = L1, L2, L3, L4, L0
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omega1 = omega4 = 0.0
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alpha1 = alpha4 = 0.0
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# 获取起始角度
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if not DEBUG_MODE:
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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time.sleep(0.1)
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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start_theta1 = np.radians(motor1.getPosition())
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start_theta4 = np.radians(motor2.getPosition())
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else:
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start_theta1 = start_theta4 = 0.0
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# 生成 S 型时间剖面
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t_profile, s_profile = s_curve_timing(total_time=total_time, dt=dt)
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if len(s_profile) == 0:
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s_profile = np.linspace(0, 1, len(x_list))
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# 插值轨迹点（使用 S 型进度）
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num_s = len(s_profile)
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x_interp = np.interp(s_profile, np.linspace(0, 1, len(x_list)), x_list)
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y_interp = np.interp(s_profile, np.linspace(0, 1, len(y_list)), y_list)
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prev_theta1 = start_theta1
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prev_theta4 = start_theta4
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start_time = perf_counter()
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for i in range(num_s):
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x = x_interp[i]
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y = y_interp[i]
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try:
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target_theta1_raw, target_theta4_raw = inverseF(x, y, L1, L2, L3, L4, L0)
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target_theta1 = float(target_theta1_raw)
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target_theta4 = float(target_theta4_raw)
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except Exception as e:
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print(f"逆解失败: ({x:.2f}, {y:.2f}) -> {e}")
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target_theta1 = prev_theta1
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target_theta4 = prev_theta4
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else:
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target_theta1 = adjust_angle_continuity(target_theta1, prev_theta1)
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target_theta4 = adjust_angle_continuity(target_theta4, prev_theta4)
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# 五次多项式插值（单点瞬时）
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T_seg = dt
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steps = 1 # 每个点只执行一次
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for step in range(steps):
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t_step = step * T_seg / steps
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theta1 = quintic_interpolation(prev_theta1, target_theta1, t_step, T_seg)
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theta4 = quintic_interpolation(prev_theta4, target_theta4, t_step, T_seg)
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control_two_motors_mit(theta1, theta4)
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# FK 验证
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try:
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xc, yc, _, _, _, _, _, _ = forwardF(
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u1=theta1, u4=theta4, omega1=omega1, omega4=omega4,
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l1=l1, l2=l2, l3=l3, l4=l4, l5=l5, alpha1=alpha1, alpha4=alpha4
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)
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x_fk_log.append(xc)
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y_fk_log.append(yc)
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except:
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x_fk_log.append(np.nan)
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y_fk_log.append(np.nan)
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# 读取反馈
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now = perf_counter()
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if not DEBUG_MODE and (now - start_time) % read_interval < dt:
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motor_control.refresh_motor_status(motor1)
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motor_control.refresh_motor_status(motor2)
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time_log.append(now - start_time)
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theta1_log.append(np.degrees(theta1))
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theta4_log.append(np.degrees(theta4))
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next_time = start_time + t_profile[i] + dt
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busy_wait(next_time - perf_counter())
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prev_theta1, prev_theta4 = target_theta1, target_theta4
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return time_log, theta1_log, theta4_log, x_fk_log, y_fk_log
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# ------------------------ 动画绘制函数 ------------------------
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def draw_frame(i):
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x = x_list[i]
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y = y_list[i]
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try:
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theta1, theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
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x2 = L1 * np.cos(theta1)
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y2 = L1 * np.sin(theta1)
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x4 = L0 + L4 * np.cos(theta4)
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y4 = L4 * np.sin(theta4)
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x_coords = [0, x2, x, x4, L0]
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y_coords = [0, y2, y, y4, 0]
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line.set_data(x_coords, y_coords)
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except:
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line.set_data([], [])
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return line,
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# ------------------------ 轨迹动画与执行 + 可视化 + FK 验证 ------------------------
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def run_trajectory_with_animation(trajectory_func, **params):
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global x_list, y_list, line
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print(f"生成轨迹: {trajectory_func.__name__}")
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x_list, y_list = trajectory_func(**params)
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print(f"轨迹点数: {len(x_list)}")
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# --- 动画 ---
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fig, ax = plt.subplots(figsize=(10, 8))
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ax.set_xlim(-50, L0 + 100)
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ax.set_ylim(0, 500)
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ax.set_aspect('equal')
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ax.grid(True, alpha=0.6)
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ax.set_title(f"五连杆机械臂 - 轨迹: {trajectory_func.__name__}")
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ax.plot(x_list, y_list, 'b--', alpha=0.5, label='目标轨迹')
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line, = ax.plot([], [], 'r-o', lw=3, ms=6, label='机械臂')
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ax.legend()
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ani = FuncAnimation(fig, draw_frame, frames=len(x_list),
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interval=50, blit=True, repeat=False)
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plt.show()
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# --- 执行并记录 ---
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print("开始执行轨迹（S型速度 + 五次插值）...")
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time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_smooth_trajectory(
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x_list, y_list,
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total_time=8.0,
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kp=50.0, kd=1.0, dt=0.001
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)
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# --- 绘制关节角度 ---
|
||||
fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
|
||||
ax1.plot(time_log, theta1_log, 'b-o', markersize=3, linewidth=1.5, label='θ₁ (电机1)')
|
||||
ax1.set_ylabel('关节角 θ₁ (°)')
|
||||
ax1.set_title('电机关节角度随时间变化')
|
||||
ax1.grid(True, alpha=0.5)
|
||||
ax1.legend()
|
||||
|
||||
ax2.plot(time_log, theta4_log, 'r-o', markersize=3, linewidth=1.5, label='θ₄ (电机2)')
|
||||
ax2.set_xlabel('时间 (秒)')
|
||||
ax2.set_ylabel('关节角 θ₄ (°)')
|
||||
ax2.grid(True, alpha=0.5)
|
||||
ax2.legend()
|
||||
plt.tight_layout()
|
||||
plt.show()
|
||||
|
||||
# --- FK 验证 ---
|
||||
fig3, ax3 = plt.subplots(figsize=(10, 8))
|
||||
ax3.plot(x_list, y_list, 'b--', linewidth=2, label='目标轨迹', alpha=0.8)
|
||||
ax3.plot(x_fk_log, y_fk_log, 'g-', linewidth=2, marker='o', markersize=3, label='FK 重建轨迹', alpha=0.7)
|
||||
ax3.scatter(x_fk_log[0], y_fk_log[0], c='green', s=100, marker='s', label='起点')
|
||||
ax3.scatter(x_fk_log[-1], y_fk_log[-1], c='red', s=100, marker='x', label='终点')
|
||||
ax3.set_xlabel('X (mm)')
|
||||
ax3.set_ylabel('Y (mm)')
|
||||
ax3.set_title('FK 验证：目标 vs 实际轨迹')
|
||||
ax3.grid(True, alpha=0.5)
|
||||
ax3.legend()
|
||||
ax3.set_aspect('equal')
|
||||
plt.tight_layout()
|
||||
plt.show()
|
||||
|
||||
# --- 误差统计 ---
|
||||
mask = ~np.isnan(x_fk_log) & ~np.isnan(y_fk_log)
|
||||
x_fk_valid = np.array(x_fk_log)[mask]
|
||||
y_fk_valid = np.array(y_fk_log)[mask]
|
||||
if len(x_fk_valid) == 0:
|
||||
print("【警告】FK 数据全为 nan，无法计算误差")
|
||||
return
|
||||
|
||||
t_target = np.linspace(0, 1, len(x_list))
|
||||
t_fk = np.linspace(0, 1, len(x_fk_valid))
|
||||
from scipy.interpolate import interp1d
|
||||
try:
|
||||
f_x = interp1d(t_fk, x_fk_valid, kind='linear', fill_value='extrapolate')
|
||||
f_y = interp1d(t_fk, y_fk_valid, kind='linear', fill_value='extrapolate')
|
||||
x_interp = f_x(t_target)
|
||||
y_interp = f_y(t_target)
|
||||
errors = np.sqrt((x_interp - x_list)**2 + (y_interp - y_list)**2)
|
||||
print("\n=== FK 验证误差统计 ===")
|
||||
print(f"平均误差: {np.mean(errors):.3f} mm")
|
||||
print(f"最大误差: {np.max(errors):.3f} mm")
|
||||
print(f"标准差: {np.std(errors):.3f} mm")
|
||||
except Exception as e:
|
||||
print(f"误差计算失败: {e}")
|
||||
|
||||
# --- 角度范围 ---
|
||||
print("\n=== 关节角度范围统计 ===")
|
||||
print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
|
||||
print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")
|
||||
|
||||
# ------------------------ 主函数 ------------------------
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
init_motors()
|
||||
|
||||
# 选择轨迹
|
||||
trajectory_config = {
|
||||
'func': line_trajectory_fix,
|
||||
'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
|
||||
}
|
||||
|
||||
# 示例：圆形轨迹
|
||||
# trajectory_config = {
|
||||
# 'func': circle_trajectory,
|
||||
# 'params': {'center': (100, 300), 'radius': 40, 'num_points': 100}
|
||||
# }
|
||||
|
||||
run_trajectory_with_animation(trajectory_config['func'], **trajectory_config['params'])
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n【用户中断】")
|
||||
except Exception as e:
|
||||
print(f"程序异常: {e}")
|
||||
finally:
|
||||
if not DEBUG_MODE:
|
||||
motor_control.disable(motor1)
|
||||
motor_control.disable(motor2)
|
||||
print("电机已停机。")
|
||||
else:
|
||||
print("【DEBUG】程序结束")
|
||||
81
main.py
81
main.py
@ -13,7 +13,7 @@ plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong']
|
||||
plt.rcParams['axes.unicode_minus'] = False
|
||||
|
||||
# ------------------------ 调试开关 ------------------------
|
||||
DEBUG_MODE = False # <<< 设为 False 控制真实电机
|
||||
DEBUG_MODE = True # <<< 设为 False 控制真实电机
|
||||
|
||||
# 导入运动学和轨迹函数（确保路径正确）
|
||||
try:
|
||||
@ -56,7 +56,7 @@ CAN_SERIAL_PORT = '/dev/ttyACM0'
|
||||
BAUD_RATE = 921600
|
||||
KP = 50.0
|
||||
KD = 1.0
|
||||
DT = 0.01 # 控制周期 10ms（每点延时）
|
||||
DT = 0.01# 控制周期 10ms（每点延时）
|
||||
|
||||
# ------------------------ 全局变量 ------------------------
|
||||
motor1 = motor2 = motor_control = None
|
||||
@ -264,7 +264,8 @@ def draw_frame(i):
|
||||
return line,
|
||||
|
||||
# ------------------------ 轨迹动画与执行 + 可视化 + FK 验证 ------------------------
|
||||
def run_trajectory_with_animation(trajectory_func, **params):
|
||||
# ------------------------ 轨迹动画预览 ------------------------
|
||||
def preview_trajectory(trajectory_func, **params):
|
||||
global x_list, y_list, line
|
||||
|
||||
print(f"生成轨迹: {trajectory_func.__name__}")
|
||||
@ -286,13 +287,18 @@ def run_trajectory_with_animation(trajectory_func, **params):
|
||||
ani = FuncAnimation(fig, draw_frame, frames=len(x_list),
|
||||
interval=50, blit=True, repeat=False)
|
||||
plt.show()
|
||||
return x_list, y_list
|
||||
|
||||
# --- 执行并记录 ---
|
||||
|
||||
# ------------------------ 执行轨迹 ------------------------
|
||||
def execute_trajectory(x_list, y_list, dt=DT):
|
||||
print("开始执行轨迹（直接发送角度）...")
|
||||
time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_direct_trajectory(
|
||||
x_list, y_list, dt=DT # 每个点发送后延时 1ms，这个地方控制电机延时
|
||||
)
|
||||
return execute_direct_trajectory(x_list, y_list, dt=dt)
|
||||
|
||||
|
||||
# ------------------------ 可视化与误差统计 ------------------------
|
||||
# ------------------------ 可视化与误差统计 ------------------------
|
||||
def visualize_results(x_list, y_list, time_log, theta1_log, theta4_log, x_fk_log, y_fk_log):
|
||||
# --- 绘制关节角度 ---
|
||||
fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
|
||||
ax1.plot(time_log, theta1_log, 'b-o', markersize=3, linewidth=1.5, label='θ₁ (电机1)')
|
||||
@ -332,7 +338,6 @@ def run_trajectory_with_animation(trajectory_func, **params):
|
||||
print("【警告】FK 数据全为 nan，无法计算误差")
|
||||
return
|
||||
|
||||
# 插值对齐长度
|
||||
t_target = np.linspace(0, 1, len(x_list))
|
||||
t_fk = np.linspace(0, 1, len(x_fk_valid))
|
||||
from scipy.interpolate import interp1d
|
||||
@ -349,11 +354,39 @@ def run_trajectory_with_animation(trajectory_func, **params):
|
||||
except Exception as e:
|
||||
print(f"误差计算失败: {e}")
|
||||
|
||||
# --- 关节角度范围 ---
|
||||
# --- 关节角度统计与保存 ---
|
||||
print("\n=== 关节角度范围统计 ===")
|
||||
print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
|
||||
print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")
|
||||
|
||||
# 角度转换为弧度，并组合成配对列表
|
||||
theta1_rad = np.radians(theta1_log)
|
||||
theta4_rad = np.radians(theta4_log)
|
||||
|
||||
# 构建嵌套列表：[[θ1_0, θ4_0], [θ1_1, θ41], ...]
|
||||
angles_rad_list = [[t1, t4] for t1, t4 in zip(theta1_rad, theta4_rad)]
|
||||
|
||||
# 格式化为字符串：保留6位小数，用逗号分隔
|
||||
nested_str = ",\n ".join([f"[{t1:.6f}, {t4:.6f}]" for t1, t4 in angles_rad_list])
|
||||
nested_str = f"[\n {nested_str}\n]"
|
||||
|
||||
# 保存为 txt 文件
|
||||
filename = 'joint_angles_rad_nested.txt'
|
||||
with open(filename, 'w') as f:
|
||||
f.write("angles_rad_list = ")
|
||||
f.write(nested_str)
|
||||
f.write("\n")
|
||||
|
||||
print(f"\n✅ 嵌套列表格式的弧度数据已保存至: {filename}")
|
||||
|
||||
|
||||
# ------------------------ 主流程 ------------------------
|
||||
def run_full_trajectory(trajectory_func, **params):
|
||||
x_list, y_list = preview_trajectory(trajectory_func, **params)
|
||||
time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_trajectory(x_list, y_list, dt=DT)
|
||||
visualize_results(x_list, y_list, time_log, theta1_log, theta4_log, x_fk_log, y_fk_log)
|
||||
|
||||
|
||||
# ==================== 获取电机当前位置 =====================
|
||||
def get_current_motor_position():
|
||||
"""
|
||||
@ -448,19 +481,41 @@ if __name__ == "__main__":
|
||||
|
||||
# --- 获取当前位置测试 ---
|
||||
print("\n=== 测试：获取电机当前位置 ===")
|
||||
theta1, theta4 = get_current_motor_position()
|
||||
#theta1, theta4 = get_current_motor_position()
|
||||
|
||||
# --- MIT 模式回零 ---
|
||||
print("\n=== MIT 模式回零 ===")
|
||||
move_motors_to_zero(duration=1.0) # 主函数里执行回零
|
||||
#move_motors_to_zero(duration=1.0) # 主函数里执行回零
|
||||
|
||||
# ---------------- 选择轨迹 ----------------
|
||||
'''
|
||||
#直线轨迹：
|
||||
trajectory_config = {
|
||||
'func': line_trajectory_fix,
|
||||
'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
|
||||
}
|
||||
|
||||
run_trajectory_with_animation(trajectory_config['func'], **trajectory_config['params'])
|
||||
|
||||
#圆形轨迹
|
||||
trajectory_config = {
|
||||
'func': circle_trajectory,
|
||||
'params': {'center': (100, 300), 'radius': 100}
|
||||
}
|
||||
|
||||
trajectory_config = {
|
||||
'func': square_trajectory,
|
||||
'params': {'side':60, 'num_points': 200}
|
||||
}
|
||||
#椭圆轨迹
|
||||
trajectory_config = {
|
||||
'func': ellipse_trajectory,
|
||||
'params': {'center': (100, 250), 'rx': 100, 'ry': 60, 'num_points': 200}
|
||||
}
|
||||
'''
|
||||
trajectory_config = {
|
||||
'func': circle_trajectory,
|
||||
'params': {'center': (100, 300), 'radius': 100, 'num_points': 100}
|
||||
}
|
||||
run_full_trajectory(trajectory_config['func'], **trajectory_config['params'])
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n【用户中断】")
|
||||
|
||||
490
main_test.py
Normal file
490
main_test.py
Normal file
@ -0,0 +1,490 @@
|
||||
# ==================== 五连杆机械臂轨迹控制（直接角度发送版）====================
|
||||
# 功能：轨迹生成 + 逆解 + 直接控制 + 动画显示 + 关节角度可视化 + FK 验证
|
||||
# ==============================================================================
|
||||
|
||||
import time
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.animation import FuncAnimation
|
||||
from time import perf_counter # 高精度计时
|
||||
|
||||
# 设置中文字体和负号显示
|
||||
plt.rcParams['font.sans-serif'] = ['SimHei', 'WenQuanYi Zen Hei', 'FangSong']
|
||||
plt.rcParams['axes.unicode_minus'] = False
|
||||
|
||||
# ------------------------ 调试开关 ------------------------
|
||||
DEBUG_MODE = False # <<< 设为 False 控制真实电机
|
||||
|
||||
# 导入运动学和轨迹函数（确保路径正确）
|
||||
try:
|
||||
from calculate.ik import inverseF
|
||||
from calculate.fk import forwardF
|
||||
from calculate.trajectory import (
|
||||
circle_trajectory,
|
||||
line_trajectory,
|
||||
line_trajectory_fix,
|
||||
ellipse_trajectory,
|
||||
square_trajectory,
|
||||
triangle_trajectory
|
||||
)
|
||||
except ImportError as e:
|
||||
print(f"【警告】无法导入运动学模块: {e}, 使用 DEBUG_MODE")
|
||||
DEBUG_MODE = True
|
||||
|
||||
# -------------------- 非 Debug 模式导入硬件库 --------------------
|
||||
if not DEBUG_MODE:
|
||||
try:
|
||||
from DM_CAN.DM_CAN import Motor, MotorControl, DM_Motor_Type, Control_Type
|
||||
import serial
|
||||
except ImportError as e:
|
||||
print(f"硬件库导入失败: {e}")
|
||||
exit(1)
|
||||
else:
|
||||
print("【DEBUG MODE】: 已启用调试模式，不连接真实硬件。")
|
||||
|
||||
# ------------------------ 机械臂参数 ------------------------
|
||||
L1 = 250 # 左臂长度 (mm)
|
||||
L2 = 300
|
||||
L3 = 300
|
||||
L4 = 250 # 右臂长度
|
||||
L0 = 250 # 基座右端偏移
|
||||
|
||||
# ------------------------ 电机与通信配置 ------------------------
|
||||
MOTOR1_ID = 0x01
|
||||
MOTOR2_ID = 0x02
|
||||
CAN_SERIAL_PORT = '/dev/ttyACM0'
|
||||
BAUD_RATE = 921600
|
||||
KP = 50.0
|
||||
KD = 1.0
|
||||
DT = 0.01# 控制周期 10ms（每点延时）
|
||||
|
||||
# ------------------------ 全局变量 ------------------------
|
||||
motor1 = motor2 = motor_control = None
|
||||
current_theta1 = current_theta4 = 0.0
|
||||
x_list = y_list = [] # 轨迹点
|
||||
line = None
|
||||
|
||||
# ------------------------ 精确延时 ------------------------
|
||||
def busy_wait(dt):
|
||||
"""高精度延时"""
|
||||
start = perf_counter()
|
||||
while perf_counter() - start < dt:
|
||||
pass
|
||||
|
||||
# ------------------------ 角度连续性调整 ------------------------
|
||||
def adjust_angle_continuity(new_angle, prev_angle):
|
||||
"""
|
||||
防止角度跳变（如 3.14 → -3.14），保持连续
|
||||
"""
|
||||
diff = new_angle - prev_angle
|
||||
while diff > np.pi:
|
||||
diff -= 2 * np.pi
|
||||
while diff < -np.pi:
|
||||
diff += 2 * np.pi
|
||||
return prev_angle + diff
|
||||
|
||||
# ------------------------ 初始化电机 ------------------------
|
||||
def init_motors():
|
||||
global motor1, motor2, motor_control
|
||||
|
||||
if DEBUG_MODE:
|
||||
print("【DEBUG】跳过电机初始化")
|
||||
motor1 = motor2 = type('Motor', (), {'id': 0})()
|
||||
motor_control = type('MotorControl', (), {
|
||||
'enable': lambda x: True,
|
||||
'disable': lambda x: None,
|
||||
'controlMIT': lambda m, kp, kd, pos, vel, torq: None,
|
||||
'refresh_motor_status': lambda m: None,
|
||||
'switchControlMode': lambda m, mode: None,
|
||||
'save_motor_param': lambda m: None
|
||||
})()
|
||||
return motor1, motor2, motor_control
|
||||
|
||||
try:
|
||||
can_serial = serial.Serial(CAN_SERIAL_PORT, BAUD_RATE, timeout=0.5)
|
||||
print(f"CAN 串口 {CAN_SERIAL_PORT} 打开成功")
|
||||
except Exception as e:
|
||||
print(f"无法打开串口: {e}")
|
||||
exit(1)
|
||||
|
||||
motor_control = MotorControl(can_serial)
|
||||
motor1 = Motor(DM_Motor_Type.DM4310, MOTOR1_ID, 0x11)
|
||||
motor2 = Motor(DM_Motor_Type.DM4310, MOTOR2_ID, 0x12)
|
||||
|
||||
motor_control.addMotor(motor1)
|
||||
motor_control.addMotor(motor2)
|
||||
motor_control.switchControlMode(motor1, Control_Type.MIT)
|
||||
motor_control.switchControlMode(motor2, Control_Type.MIT)
|
||||
time.sleep(0.1)
|
||||
motor_control.save_motor_param(motor1)
|
||||
motor_control.save_motor_param(motor2)
|
||||
motor_control.enable(motor1)
|
||||
motor_control.enable(motor2)
|
||||
print("电机已使能。")
|
||||
return motor1, motor2, motor_control
|
||||
|
||||
# 电机1、4安全角度范围（弧度）
|
||||
THETA1_MIN = -np.pi/2 # -60°
|
||||
THETA1_MAX = np.pi/2 # 60°
|
||||
THETA4_MIN = -np.pi/2 # -60°
|
||||
THETA4_MAX = np.pi/2 # 60°
|
||||
|
||||
# ------------------------ MIT 控制函数（带限位 + 回零逻辑） ------------------------
|
||||
def control_two_motors_mit(theta1_rad, theta4_rad):
|
||||
"""
|
||||
发送 MIT 控制指令（角度单位：弧度）
|
||||
带限位检测：如果超限，自动触发回零。
|
||||
"""
|
||||
global current_theta1, current_theta4
|
||||
|
||||
# --- 限位检测 ---
|
||||
if not (THETA1_MIN <= theta1_rad <= THETA1_MAX):
|
||||
print(f"θ1 超出限位 [{THETA1_MIN}, {THETA1_MAX}]，执行回零...")
|
||||
move_motors_to_zero()
|
||||
return
|
||||
|
||||
if not (THETA4_MIN <= theta4_rad <= THETA4_MAX):
|
||||
print(f"θ4 超出限位 [{THETA4_MIN}, {THETA4_MAX}]，执行回零...")
|
||||
move_motors_to_zero()
|
||||
return
|
||||
|
||||
# --- 正常控制 ---
|
||||
pos1 = theta1_rad
|
||||
pos4 = theta4_rad
|
||||
vel = 0.1
|
||||
torq = 0.0
|
||||
|
||||
if not DEBUG_MODE:
|
||||
motor_control.controlMIT(motor1, KP, KD, pos1, vel, torq)
|
||||
motor_control.controlMIT(motor2, KP, KD, pos4, vel, torq)
|
||||
else:
|
||||
print(f"[DEBUG] 控制 -> θ1={np.degrees(theta1_rad):.2f}°, θ4={np.degrees(theta4_rad):.2f}°")
|
||||
|
||||
current_theta1 = theta1_rad
|
||||
current_theta4 = theta4_rad
|
||||
|
||||
|
||||
# ------------------------ 直接轨迹执行函数（无插值）------------------------
|
||||
from time import perf_counter
|
||||
import numpy as np
|
||||
|
||||
|
||||
# 假设其他所需函数和全局变量已定义，例如 inverseF, forwardF, adjust_angle_continuity, control_two_motors_mit, 等等.
|
||||
|
||||
def execute_direct_trajectory(x_list, y_list, dt=DT):
|
||||
"""
|
||||
直接执行轨迹：对每个 (x,y) 计算逆解并立即发送角度，不做插值或速度规划
|
||||
执行前：先把电机从零点平滑移动到轨迹起点
|
||||
返回: (time_log, theta1_log, theta4_log, x_fk_log, y_fk_log)
|
||||
"""
|
||||
global motor_control, motor1, motor2
|
||||
|
||||
ANGLE_OFFSET_RAD = np.pi / 2 # 90° 偏移量
|
||||
|
||||
time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = [], [], [], [], []
|
||||
l1, l2, l3, l4, l5 = L1, L2, L3, L4, L0
|
||||
omega1 = omega4 = 0.0
|
||||
alpha1 = alpha4 = 0.0
|
||||
|
||||
# --- 轨迹起点逆解 ---
|
||||
x0, y0 = x_list[0], y_list[0]
|
||||
try:
|
||||
raw_theta1, raw_theta4 = inverseF(x0, y0, L1, L2, L3, L4, L0)
|
||||
theta1_start = float(raw_theta1) - ANGLE_OFFSET_RAD
|
||||
theta4_start = float(raw_theta4) - ANGLE_OFFSET_RAD
|
||||
print(f"起点逆解成功 -> θ1={np.degrees(theta1_start):.2f}°, θ4={np.degrees(theta4_start):.2f}°")
|
||||
except Exception as e:
|
||||
print(f"❌ 起点逆解失败: {e}")
|
||||
return [], [], [], [], []
|
||||
|
||||
# --- 电机移动到起点 ---
|
||||
print("电机从零点移动到轨迹起点...")
|
||||
move_motors_to_target(theta1_start, theta4_start, duration=1.5, dt=dt)
|
||||
current_theta1, current_theta4 = theta1_start, theta4_start
|
||||
|
||||
# --- 轨迹执行 ---
|
||||
start_time = perf_counter()
|
||||
for i, (x, y) in enumerate(zip(x_list, y_list)):
|
||||
try:
|
||||
raw_theta1, raw_theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
|
||||
target_theta1 = float(raw_theta1) - ANGLE_OFFSET_RAD
|
||||
target_theta4 = float(raw_theta4) - ANGLE_OFFSET_RAD
|
||||
target_theta1 = adjust_angle_continuity(target_theta1, current_theta1)
|
||||
target_theta4 = adjust_angle_continuity(target_theta4, current_theta4)
|
||||
except Exception as e:
|
||||
print(f"第 {i} 点逆解失败 ({x:.2f}, {y:.2f}): {e}")
|
||||
target_theta1, target_theta4 = current_theta1, current_theta4
|
||||
else:
|
||||
current_theta1, current_theta4 = target_theta1, target_theta4
|
||||
|
||||
# 控制电机
|
||||
control_two_motors_mit(target_theta1, target_theta4)
|
||||
|
||||
# FK 验证
|
||||
try:
|
||||
xc, yc, *_ = forwardF(
|
||||
u1=target_theta1 + ANGLE_OFFSET_RAD,
|
||||
u4=target_theta4 + ANGLE_OFFSET_RAD,
|
||||
omega1=omega1, omega4=omega4,
|
||||
l1=l1, l2=l2, l3=l3, l4=l4, l5=l5,
|
||||
alpha1=alpha1, alpha4=alpha4
|
||||
)
|
||||
x_fk_log.append(xc)
|
||||
y_fk_log.append(yc)
|
||||
except:
|
||||
x_fk_log.append(np.nan)
|
||||
y_fk_log.append(np.nan)
|
||||
|
||||
# 记录日志
|
||||
elapsed = perf_counter() - start_time
|
||||
time_log.append(elapsed)
|
||||
theta1_log.append(np.degrees(target_theta1))
|
||||
theta4_log.append(np.degrees(target_theta4))
|
||||
|
||||
busy_wait(dt)
|
||||
|
||||
return time_log, theta1_log, theta4_log, x_fk_log, y_fk_log
|
||||
|
||||
|
||||
# ------------------------ 动画绘制函数 ------------------------
|
||||
def draw_frame(i):
|
||||
x = x_list[i]
|
||||
y = y_list[i]
|
||||
try:
|
||||
theta1, theta4 = inverseF(x, y, L1, L2, L3, L4, L0)
|
||||
x2 = L1 * np.cos(theta1)
|
||||
y2 = L1 * np.sin(theta1)
|
||||
x4 = L0 + L4 * np.cos(theta4)
|
||||
y4 = L4 * np.sin(theta4)
|
||||
x_coords = [0, x2, x, x4, L0]
|
||||
y_coords = [0, y2, y, y4, 0]
|
||||
line.set_data(x_coords, y_coords)
|
||||
except:
|
||||
line.set_data([], [])
|
||||
return line,
|
||||
|
||||
# ------------------------ 轨迹循环动画与执行 + 可视化 + FK 验证 ------------------------
|
||||
def run_trajectory_with_animation_loop(trajectory_func, loop_count=3, **params):
|
||||
"""
|
||||
循环执行轨迹指定次数，保持关节连续性
|
||||
loop_count: 循环次数
|
||||
"""
|
||||
global x_list, y_list, line, current_theta1, current_theta4
|
||||
|
||||
print(f"生成轨迹: {trajectory_func.__name__}")
|
||||
x_list, y_list = trajectory_func(**params)
|
||||
print(f"轨迹点数: {len(x_list)}")
|
||||
|
||||
# --- 动画初始化 ---
|
||||
fig, ax = plt.subplots(figsize=(10, 8))
|
||||
ax.set_xlim(-50, L0 + 100)
|
||||
ax.set_ylim(0, 500)
|
||||
ax.set_aspect('equal')
|
||||
ax.grid(True, alpha=0.6)
|
||||
ax.set_title(f"五连杆机械臂 - 轨迹循环执行: {trajectory_func.__name__}")
|
||||
ax.plot(x_list, y_list, 'b--', alpha=0.5, label='目标轨迹')
|
||||
line, = ax.plot([], [], 'r-o', lw=3, ms=6, label='机械臂')
|
||||
ax.legend()
|
||||
plt.ion()
|
||||
plt.show()
|
||||
|
||||
for count in range(1, loop_count + 1):
|
||||
print(f"\n=== 第 {count} 次执行轨迹 ===")
|
||||
# --- 执行轨迹 ---
|
||||
time_log, theta1_log, theta4_log, x_fk_log, y_fk_log = execute_direct_trajectory(
|
||||
x_list, y_list, dt=DT
|
||||
)
|
||||
|
||||
# --- 动画更新 ---
|
||||
for i in range(len(x_list)):
|
||||
draw_frame(i)
|
||||
plt.pause(0.01)
|
||||
|
||||
# --- 绘制关节角度 ---
|
||||
fig2, (ax1, ax2) = plt.subplots(2, 1, figsize=(10, 6), sharex=True)
|
||||
ax1.plot(time_log, theta1_log, 'b-o', markersize=3, linewidth=1.5, label='θ₁ (电机1)')
|
||||
ax1.set_ylabel('关节角 θ₁ (°)')
|
||||
ax1.set_title(f'电机关节角度随时间变化 - 第 {count} 次')
|
||||
ax1.grid(True, alpha=0.5)
|
||||
ax1.legend()
|
||||
|
||||
ax2.plot(time_log, theta4_log, 'r-o', markersize=3, linewidth=1.5, label='θ₄ (电机2)')
|
||||
ax2.set_xlabel('时间 (秒)')
|
||||
ax2.set_ylabel('关节角 θ₄ (°)')
|
||||
ax2.grid(True, alpha=0.5)
|
||||
ax2.legend()
|
||||
plt.tight_layout()
|
||||
plt.show()
|
||||
|
||||
# --- FK 验证 ---
|
||||
fig3, ax3 = plt.subplots(figsize=(10, 8))
|
||||
ax3.plot(x_list, y_list, 'b--', linewidth=2, label='目标轨迹', alpha=0.8)
|
||||
ax3.plot(x_fk_log, y_fk_log, 'g-', linewidth=2, marker='o', markersize=3, label='FK 重建轨迹', alpha=0.7)
|
||||
ax3.scatter(x_fk_log[0], y_fk_log[0], c='green', s=100, marker='s', label='起点')
|
||||
ax3.scatter(x_fk_log[-1], y_fk_log[-1], c='red', s=100, marker='x', label='终点')
|
||||
ax3.set_xlabel('X (mm)')
|
||||
ax3.set_ylabel('Y (mm)')
|
||||
ax3.set_title(f'FK 验证：目标 vs 实际轨迹 - 第 {count} 次')
|
||||
ax3.grid(True, alpha=0.5)
|
||||
ax3.legend()
|
||||
ax3.set_aspect('equal')
|
||||
plt.tight_layout()
|
||||
plt.show()
|
||||
|
||||
# --- 误差统计 ---
|
||||
mask = ~np.isnan(x_fk_log) & ~np.isnan(y_fk_log)
|
||||
x_fk_valid = np.array(x_fk_log)[mask]
|
||||
y_fk_valid = np.array(y_fk_log)[mask]
|
||||
if len(x_fk_valid) == 0:
|
||||
print("【警告】FK 数据全为 nan，无法计算误差")
|
||||
continue
|
||||
|
||||
t_target = np.linspace(0, 1, len(x_list))
|
||||
t_fk = np.linspace(0, 1, len(x_fk_valid))
|
||||
from scipy.interpolate import interp1d
|
||||
try:
|
||||
f_x = interp1d(t_fk, x_fk_valid, kind='linear', fill_value='extrapolate')
|
||||
f_y = interp1d(t_fk, y_fk_valid, kind='linear', fill_value='extrapolate')
|
||||
x_interp = f_x(t_target)
|
||||
y_interp = f_y(t_target)
|
||||
errors = np.sqrt((x_interp - x_list)**2 + (y_interp - y_list)**2)
|
||||
print("\n=== FK 验证误差统计 ===")
|
||||
print(f"平均误差: {np.mean(errors):.3f} mm")
|
||||
print(f"最大误差: {np.max(errors):.3f} mm")
|
||||
print(f"标准差: {np.std(errors):.3f} mm")
|
||||
except Exception as e:
|
||||
print(f"误差计算失败: {e}")
|
||||
|
||||
# --- 关节角度范围 ---
|
||||
print("\n=== 关节角度范围统计 ===")
|
||||
print(f"θ₁ 范围: {min(theta1_log):.2f}° ~ {max(theta1_log):.2f}°")
|
||||
print(f"θ₄ 范围: {min(theta4_log):.2f}° ~ {max(theta4_log):.2f}°")
|
||||
|
||||
plt.ioff()
|
||||
print(f"\n=== 循环执行 {loop_count} 次完成 ===")
|
||||
|
||||
|
||||
# ==================== 获取电机当前位置 =====================
|
||||
def get_current_motor_position():
|
||||
"""
|
||||
获取当前电机角度（电机原始单位，通常是度），并打印。
|
||||
返回：theta1_current, theta4_current（度）
|
||||
"""
|
||||
if not DEBUG_MODE:
|
||||
try:
|
||||
motor_control.refresh_motor_status(motor1)
|
||||
motor_control.refresh_motor_status(motor2)
|
||||
time.sleep(0.05)
|
||||
theta1_current = motor1.getPosition()
|
||||
theta4_current = motor2.getPosition()
|
||||
except Exception:
|
||||
theta1_current = theta4_current = 0.0
|
||||
else:
|
||||
theta1_current = motor1.getPosition()
|
||||
theta4_current = motor2.getPosition()
|
||||
|
||||
print(f"当前电机弧度 -> θ1={theta1_current:.2f}, θ4={theta4_current:.2f}")
|
||||
return theta1_current, theta4_current
|
||||
|
||||
# ==================== MIT 模式回零函数 =====================
|
||||
def move_motors_to_zero(duration=1.0, dt=DT):
|
||||
"""
|
||||
使用 MIT 模式将电机从当前位置平滑回到零点
|
||||
duration: 总运动时间 (秒)
|
||||
dt: 控制周期 (秒)
|
||||
"""
|
||||
global motor1, motor2, motor_control, current_theta1, current_theta4
|
||||
|
||||
# 获取当前位置
|
||||
theta1_start, theta4_start = get_current_motor_position()
|
||||
# 计算步数
|
||||
steps = int(duration / dt)
|
||||
for i in range(steps + 1):
|
||||
t = i / steps
|
||||
# 线性插值
|
||||
theta1_target = theta1_start * (1 - t)
|
||||
theta4_target = theta4_start * (1 - t)
|
||||
# 发送 MIT 控制
|
||||
control_two_motors_mit(theta1_target, theta4_target)
|
||||
busy_wait(dt)
|
||||
|
||||
# 确保最终位置为零
|
||||
control_two_motors_mit(0.0, 0.0)
|
||||
current_theta1 = current_theta4 = 0.0
|
||||
print("电机已回零完成。")
|
||||
|
||||
# ==================== MIT 模式移动到指定角度（任意两点） =====================
|
||||
def move_motors_to_target(theta1_target_rad, theta4_target_rad, duration=1.0, dt=DT,
|
||||
theta1_start_rad=None, theta4_start_rad=None):
|
||||
"""
|
||||
使用 MIT 模式将电机从起点平滑移动到指定目标角度
|
||||
参数:
|
||||
theta1_target_rad: 电机1目标角度（弧度）
|
||||
theta4_target_rad: 电机4目标角度（弧度）
|
||||
duration: 总运动时间 (秒)
|
||||
dt: 控制周期 (秒)
|
||||
theta1_start_rad: 电机1起始角度（弧度），默认 None 表示从零点
|
||||
theta4_start_rad: 电机4起始角度（弧度），默认 None 表示从零点
|
||||
"""
|
||||
global motor1, motor2, motor_control, current_theta1, current_theta4
|
||||
|
||||
# 默认从零点出发
|
||||
if theta1_start_rad is None:
|
||||
theta1_start_rad = 0.0
|
||||
if theta4_start_rad is None:
|
||||
theta4_start_rad = 0.0
|
||||
|
||||
steps = int(duration / dt)
|
||||
for i in range(steps + 1):
|
||||
t = i / steps
|
||||
# 线性插值
|
||||
theta1_now = theta1_start_rad + (theta1_target_rad - theta1_start_rad) * t
|
||||
theta4_now = theta4_start_rad + (theta4_target_rad - theta4_start_rad) * t
|
||||
# 发送 MIT 控制
|
||||
control_two_motors_mit(theta1_now, theta4_now)
|
||||
busy_wait(dt)
|
||||
|
||||
# 确保最终位置精确到目标
|
||||
control_two_motors_mit(theta1_target_rad, theta4_target_rad)
|
||||
current_theta1 = theta1_target_rad
|
||||
current_theta4 = theta4_target_rad
|
||||
print(f"电机已移动到目标角度: θ1={np.degrees(theta1_target_rad):.2f}°, θ4={np.degrees(theta4_target_rad):.2f}°")
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
try:
|
||||
# ---------------- 初始化电机 ----------------
|
||||
init_motors()
|
||||
|
||||
# --- 获取当前位置测试 ---
|
||||
print("\n=== 测试：获取电机当前位置 ===")
|
||||
theta1, theta4 = get_current_motor_position()
|
||||
|
||||
# --- MIT 模式回零 ---
|
||||
print("\n=== MIT 模式回零 ===")
|
||||
move_motors_to_zero(duration=1.0) # 主函数里执行回零
|
||||
|
||||
# ---------------- 选择轨迹 ----------------
|
||||
#trajectory_config = {
|
||||
# 'func': line_trajectory_fix,
|
||||
# 'params': {'start': (25, 300), 'end': (200, 300), 'num_points': 100}
|
||||
#}
|
||||
trajectory_config = {
|
||||
'func': circle_trajectory,
|
||||
'params': {'center': (100, 300), 'radius': 100}
|
||||
}
|
||||
run_trajectory_with_animation_loop(trajectory_config['func'], loop_count=2, **trajectory_config['params'])
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n【用户中断】")
|
||||
except Exception as e:
|
||||
print(f"程序异常: {e}")
|
||||
finally:
|
||||
if not DEBUG_MODE:
|
||||
motor_control.disable(motor1)
|
||||
motor_control.disable(motor2)
|
||||
print("电机已停机。")
|
||||
else:
|
||||
print("【DEBUG】程序结束")
|
||||
|
||||
130
mian_test.py
130
mian_test.py
@ -1,130 +0,0 @@
|
||||
import time
|
||||
import numpy as np
|
||||
import matplotlib.pyplot as plt
|
||||
from matplotlib.animation import FuncAnimation
|
||||
from time import perf_counter
|
||||
|
||||
# ------------------------ 调试开关 ------------------------
|
||||
DEBUG_MODE = False # True: 模拟电机, False: 真机
|
||||
|
||||
# ------------------------ 电机与控制 ------------------------
|
||||
if DEBUG_MODE:
|
||||
class MockMotor:
|
||||
def __init__(self):
|
||||
self._pos_deg = 45.0
|
||||
def getPosition(self):
|
||||
return self._pos_deg
|
||||
def setPosition(self, deg):
|
||||
self._pos_deg = deg
|
||||
print(f"[DEBUG] 电机位置 -> {deg:.2f}°")
|
||||
|
||||
class MockControl:
|
||||
def enable(self, m): return True
|
||||
def disable(self, m): return None
|
||||
def controlMIT(self, m, kp, kd, pos, vel, torq):
|
||||
deg = np.degrees(pos)
|
||||
m.setPosition(deg)
|
||||
|
||||
motor1 = MockMotor()
|
||||
motor2 = MockMotor()
|
||||
motor_control = MockControl()
|
||||
else:
|
||||
import serial
|
||||
from DM_CAN.DM_CAN import Motor, MotorControl, DM_Motor_Type, Control_Type
|
||||
|
||||
CAN_SERIAL_PORT = '/dev/ttyACM0'
|
||||
BAUD_RATE = 921600
|
||||
MOTOR1_ID = 0x01
|
||||
MOTOR2_ID = 0x02
|
||||
|
||||
def init_real_motors():
|
||||
try:
|
||||
can_serial = serial.Serial(CAN_SERIAL_PORT, BAUD_RATE, timeout=0.5)
|
||||
print(f"CAN 串口 {CAN_SERIAL_PORT} 打开成功")
|
||||
except Exception as e:
|
||||
print(f"无法打开串口: {e}")
|
||||
exit(1)
|
||||
|
||||
mc = MotorControl(can_serial)
|
||||
m1 = Motor(DM_Motor_Type.DM4310, MOTOR1_ID, 0x11)
|
||||
m2 = Motor(DM_Motor_Type.DM4310, MOTOR2_ID, 0x12)
|
||||
mc.addMotor(m1)
|
||||
mc.addMotor(m2)
|
||||
mc.switchControlMode(m1, Control_Type.MIT)
|
||||
mc.switchControlMode(m2, Control_Type.MIT)
|
||||
time.sleep(0.1)
|
||||
mc.save_motor_param(m1)
|
||||
mc.save_motor_param(m2)
|
||||
mc.enable(m1)
|
||||
mc.enable(m2)
|
||||
print("真实电机已使能。")
|
||||
return m1, m2, mc
|
||||
|
||||
# ------------------------ 通用函数 ------------------------
|
||||
def busy_wait(dt):
|
||||
start = perf_counter()
|
||||
while perf_counter() - start < dt:
|
||||
pass
|
||||
|
||||
def adjust_angle_continuity(new_angle, prev_angle):
|
||||
diff = new_angle - prev_angle
|
||||
while diff > np.pi:
|
||||
diff -= 2 * np.pi
|
||||
while diff < -np.pi:
|
||||
diff += 2 * np.pi
|
||||
return prev_angle + diff
|
||||
|
||||
def control_two_motors_mit(theta1_rad, theta4_rad, dt=0.01):
|
||||
motor_control.controlMIT(motor1, 50, 1, theta1_rad, 0.1, 0.0)
|
||||
motor_control.controlMIT(motor2, 50, 1, theta4_rad, 0.1, 0.0)
|
||||
busy_wait(dt)
|
||||
|
||||
# ------------------------ 移动到零点 ------------------------
|
||||
def move_to_zero_point(steps=60, dt=0.01):
|
||||
theta1_current = np.radians(motor1.getPosition())
|
||||
theta4_current = np.radians(motor2.getPosition())
|
||||
theta1_list = np.linspace(theta1_current, 0.0, steps)
|
||||
theta4_list = np.linspace(theta4_current, 0.0, steps)
|
||||
|
||||
for t1, t4 in zip(theta1_list, theta4_list):
|
||||
t1_adj = adjust_angle_continuity(t1, theta1_current)
|
||||
t4_adj = adjust_angle_continuity(t4, theta4_current)
|
||||
control_two_motors_mit(t1_adj, t4_adj, dt)
|
||||
|
||||
print("已到达零点。")
|
||||
print(f"电机1角度: {motor1.getPosition():.2f}°")
|
||||
print(f"电机2角度: {motor2.getPosition():.2f}°")
|
||||
|
||||
# ------------------------ 示例轨迹动画 ------------------------
|
||||
def draw_demo_trajectory():
|
||||
x_list = np.linspace(0, 200, 50)
|
||||
y_list = 100 + 50 * np.sin(np.linspace(0, 2*np.pi, 50))
|
||||
|
||||
fig, ax = plt.subplots(figsize=(8, 6))
|
||||
ax.set_xlim(-50, 250)
|
||||
ax.set_ylim(0, 250)
|
||||
ax.set_aspect('equal')
|
||||
ax.grid(True)
|
||||
ax.plot(x_list, y_list, 'b--', label='示例轨迹')
|
||||
line, = ax.plot([], [], 'ro-', lw=2, label='机械臂')
|
||||
|
||||
def update(i):
|
||||
line.set_data([0, x_list[i]], [0, y_list[i]])
|
||||
return line,
|
||||
|
||||
ani = FuncAnimation(fig, update, frames=len(x_list), interval=50, blit=True, repeat=False)
|
||||
ax.legend()
|
||||
plt.show()
|
||||
|
||||
# ------------------------ 主程序 ------------------------
|
||||
if __name__ == "__main__":
|
||||
if not DEBUG_MODE:
|
||||
motor1, motor2, motor_control = init_real_motors()
|
||||
else:
|
||||
print("【DEBUG模式】使用模拟电机")
|
||||
|
||||
print(f"当前电机角度 -> 电机1: {motor1.getPosition():.2f}°, 电机2: {motor2.getPosition():.2f}°")
|
||||
print("移动到零点...")
|
||||
move_to_zero_point(steps=60, dt=0.01)
|
||||
print("显示示例轨迹动画...")
|
||||
draw_demo_trajectory()
|
||||
Reference in New Issue
Block a user