修改传送带电机、舵机、达妙电机等相关接口
This commit is contained in:
@ -22,7 +22,7 @@ class DMMotorController:
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"""
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初始化电机控制器
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:param slave_id: 从机ID，默认0x01
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:param master_id: 主机ID，默认0x11（不要设为0x00）
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:param master_id: 主机ID，默认0x11
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:param port: 串口端口，默认COM6
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:param baudrate: 波特率，默认921600
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"""
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@ -40,7 +40,6 @@ class DMMotorController:
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# 初始化电机和串口
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self.init_motor()
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def init_motor(self):
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"""初始化电机和串口"""
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try:
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@ -112,8 +111,8 @@ class DMMotorController:
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:param v_desired: 目标速度（rad/s, 范围[-30, 30]）
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"""
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try:
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# 归零 + 发送运动指令
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self.motor_control.set_zero_position(self.motor)
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# 发送运动指令
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# self.motor_control.set_zero_position(self.motor)
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self.motor_control.control_Pos_Vel(self.motor, p_desired, v_desired)
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time.sleep(0.1)
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print(f"✅ 位置-速度控制：位置={p_desired}rad | 速度={v_desired}rad/s")
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@ -135,7 +134,10 @@ class DMMotorController:
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return False
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def _get_mode_name(self, control_type):
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"""获取模式名称"""
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"""
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获取模式名称
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:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
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"""
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# 1.定义[枚举值--中文名称]的映射字典
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mode_map = {
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Control_Type.POS_VEL: "位置-速度模式",
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@ -145,15 +147,55 @@ class DMMotorController:
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# 2.根据控制模式值获取中文名称 字典方法
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return mode_map.get(control_type, "未知模式") # “未知模式”默认值
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def get_position(self):
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self.refresh()
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return self.motor.getPosition()
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def save_param(self):
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"""保存所有电机参数"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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def refresh(self):
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self.motor_control.refresh_motor_status(self.motor)
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self.motor_control.save_motor_param(self.motor)
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print("电机参数保存成功")
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except Exception as e:
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print(f"❌ 电机参数保存失败：{str(e)}")
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def refresh_motor_status(self):
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"""获得电机状态"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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self.motor_control.refresh_motor_status(self.motor)
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print("电机状态刷新成功")
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except Exception as e:
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print(f"❌ 电机状态刷新失败：{str(e)}")
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def get_position(self):
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"""获取电机位置"""
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try:
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if self.motor is None:
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raise ValueError("电机实例为None，无法保存参数")
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position = self.motor.getPosition()
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print(f"获取电机位置成功，当前位置: {position}")
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return position
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except Exception as e:
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print(f"获取电机位置失败: {str(e)}")
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def change_limit_param(self, motor_type, pmax, vmax, tmax):
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self.motor_control.change_limit_param(motor_type, pmax, vmax, tmax)
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"""
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改变电机的PMAX VMAX TMAX
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:param motor_type: 电机的类型
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:param pmax: 电机的PMAX
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:param vmax: 电机的VMAX
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:param tmax: 电机的TAMX
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"""
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try:
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self.motor_control.change_limit_param(motor_type, pmax, vmax, tmax)
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print(
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f"电机限位参数修改成功 | 类型: {motor_type} | PMAX: {pmax} | VMAX: {vmax} | TMAX: {tmax}"
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)
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except Exception as e:
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print(f"修改电机限位参数失败: {str(e)}")
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def __del__(self):
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"""析构函数：确保程序退出时失能电机、关闭串口"""
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@ -168,7 +210,6 @@ class DMMotorController:
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except Exception as e:
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print(f"ℹ️ 析构函数执行警告：{str(e)}")
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if __name__ == '__main__':
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# 1.创建电机控制器实例
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motor_controller = DMMotorController(
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247
DM/DM_Motor_controller.py
Normal file
247
DM/DM_Motor_controller.py
Normal file
@ -0,0 +1,247 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/6 13:55
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# @Author : reenrr
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# @File : DM_Motor_test.py
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# @Desc : 达妙电机测试
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'''
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from DM_CAN import *
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from DM_Motor import DMMotorController
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import time
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# -------------------------- 电机参数配置 --------------------------
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SLAVE_ID = 0x01
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MASTER_ID = 0x11
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PORT = 'COM10'
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BAUDRATE = 921600
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ORI_P_DESIRED = 0.0 # 吸附位置
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DROP_P_DESIRED = 0.0 # 放置位置
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V_DESIRED = 30
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P_DESIRED_MIN = -300
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P_DESIRED_MAX = 300
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V_DESIRED_MIN = -30
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V_DESIRED_MAX = 30
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ORIGIN_POSITION = 0.0 # 电机原点位置
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POSITION_TOLERANCE = 0.1 # 位置误差阈值
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class DMMotorInterface:
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def __init__(self):
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"""初始化电机控制器，切换模式并使能电机"""
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self.motor_controller = DMMotorController(
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slave_id=SLAVE_ID,
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master_id=MASTER_ID,
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port=PORT,
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baudrate=BAUDRATE
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)
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try:
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# 切换到位置-速度模式
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self.motor_controller.switch_control_mode(Control_Type.POS_VEL)
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# 使能电机
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self.motor_controller.enable_motor()
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except Exception as e:
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raise RuntimeError(f"电机初始化失败:{str(e)}") from e
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# 全局变量
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_DMMotor = DMMotorInterface()
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def set_dm_motor_speed(value: int) -> bool:
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"""
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设置达妙电机速度
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:param value: 速度值
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:return: 是否设置成功
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"""
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global V_DESIRED_MIN, V_DESIRED_MAX, V_DESIRED
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try:
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_min = V_DESIRED_MIN
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_max = V_DESIRED_MAX
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except NameError as e:
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err_msg = f"速度限位常量未定义：{str(e)}，请检查V_DESIRED_MIN/V_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"速度值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = V_DESIRED
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V_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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# 5. 异常处理：保留原始异常链，加详细日志
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def set_ori_position(value: float) ->bool:
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"""
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设置吸附位置
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:param value: 设置吸附位置值
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"""
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global ORI_P_DESIRED, P_DESIRED_MIN, P_DESIRED_MAX
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try:
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_min = P_DESIRED_MIN
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_max = P_DESIRED_MAX
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except NameError as e:
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err_msg = f"位置限位常量未定义：{str(e)}，请检查P_DESIRED_MIN/P_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"位置值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = ORI_P_DESIRED
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ORI_P_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def set_drop_position(value: float) -> bool:
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"""
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设置放置位置
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:param value: 设置放置位置
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"""
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global DROP_P_DESIRED, P_DESIRED_MIN, P_DESIRED_MAX
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try:
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_min = P_DESIRED_MIN
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_max = P_DESIRED_MAX
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except NameError as e:
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err_msg = f"位置限位常量未定义：{str(e)}，请检查P_DESIRED_MIN/P_DESIRED_MAX的定义"
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print(f"错误：{err_msg}")
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raise Exception(err_msg) from e
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if not (_min <= value <= _max):
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err_msg = f"位置值超出合法范围：{value}，合法范围[{_min}, {_max}]"
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print(f"错误：{err_msg}")
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# 可选：若需要上层感知超限，改为抛ValueError（替代return False）
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# raise ValueError(err_msg)
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return False
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try:
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old_value = DROP_P_DESIRED
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DROP_P_DESIRED = value
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print(f"成功：电机速度已更新，旧值={old_value}，新值={value}（范围[{_min}, {_max}]）")
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return True
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except Exception as e:
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# 5. 异常处理：保留原始异常链，加详细日志
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err_msg = f"设置电机速度失败：{str(e)}（尝试设置的值：{value}）"
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print(f"异常：{err_msg}")
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# 保留原始异常链，便于上层定位根因
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raise Exception(err_msg) from e
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def move_to_ori_position():
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"""
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移动到吸附位置
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"""
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try:
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print(f"开始执行--移动到吸附位置：目标位置={ORI_P_DESIRED},速度={V_DESIRED}")
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_DMMotor.motor_controller.control_pos_vel(ORI_P_DESIRED, V_DESIRED)
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time.sleep(5) # 等待电机移动完成
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print(f"吸附位置移动指令已发送")
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except Exception as e:
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# 封装异常信息，保留原始异常链
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err_msg = f"移动到吸附位置失败：{str(e)}（目标位置={ORI_P_DESIRED}，速度={V_DESIRED}）"
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print(f"❌ 异常：{err_msg}")
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raise RuntimeError(err_msg) from e
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def move_to_drop_position():
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"""
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移动到放置位置
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"""
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try:
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print(f"开始执行--移动到放置位置：目标位置={DROP_P_DESIRED},速度={V_DESIRED}")
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_DMMotor.motor_controller.control_pos_vel(DROP_P_DESIRED, V_DESIRED)
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time.sleep(5) # 等待电机移动完成
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print(f"放置位置移动指令已发送")
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except Exception as e:
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# 封装异常信息，保留原始异常链
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err_msg = f"移动到放置位置失败：{str(e)}（目标位置={DROP_P_DESIRED}，速度={V_DESIRED}）"
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print(f"❌ 异常：{err_msg}")
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raise RuntimeError(err_msg) from e
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def set_zero_position() -> bool:
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"""
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电机零点标定：将当前物理位置设置为软件0位
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注意：调用前需确保电机处于稳定的物理零点位置
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"""
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try:
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print("🔍 开始执行电机零点标定...")
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result = _DMMotor.motor_controller.motor_control.set_zero_position(_DMMotor.motor_controller.motor)
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if result:
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# 保存标定参数（关键：否则断电后零点丢失）
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_DMMotor.motor_controller.save_param()
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print("✅ 零点标定成功！当前位置已设为0位，参数已保存")
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return True
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else:
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print("❌ 零点标定失败！")
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return False
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except Exception as e:
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err_msg = f"零点标定异常：{str(e)}"
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print(f"❌ {err_msg}")
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raise RuntimeError(err_msg) from e
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def reset_motor():
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"""复位达妙电机，防止断电"""
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try:
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# 读取断电后的当前位置
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print("开始电机复位流程：读取当前位置...")
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current_pos = _DMMotor.motor_controller.get_position()
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print(f"✅ 读取当前位置成功：{current_pos}")
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# 计算需要移动的偏移量（核心逻辑）
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if abs(current_pos) <= POSITION_TOLERANCE:
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print(f"ℹ️ 当前位置已在原点附近（误差={abs(current_pos)} ≤ {POSITION_TOLERANCE}），无需复位")
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return True
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reset_target_p = -current_pos # 重点修改：p_desired = -当前位置
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print(f"📌 复位路径计算：当前位置={current_pos} → 需设置p_desired={reset_target_p} → 回到0位")
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print(f"🚀 开始复位移动：p_desired={reset_target_p}，速度={V_DESIRED} rpm")
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_DMMotor.motor_controller.control_pos_vel(p_desired=reset_target_p, v_desired=V_DESIRED)
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time.sleep(5) # 等待电机复位
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except Exception as e:
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err_msg = f"电机复位失败：{str(e)}"
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print(f"❌ 错误：{err_msg}")
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raise RuntimeError(err_msg) from e
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# ---------调试接口----------
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if __name__ == '__main__':
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# 首先在吸附位置处进行 设置零点位置
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set_zero_position()
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set_dm_motor_speed(30)
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set_ori_position(282.6)
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move_to_ori_position()
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@ -1,257 +0,0 @@
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#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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'''
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# @Time : 2026/1/6 13:55
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# @Author : reenrr
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# @File : DM_Motor_test.py
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# @Desc : 达妙电机测试
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'''
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from DM_CAN import *
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import serial
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import time
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# -------------------------- 电机参数配置 --------------------------
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SLAVE_ID = 0x01
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MASTER_ID = 0x11
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PORT = 'COM10'
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BAUDRATE = 921600
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class DMMotorController:
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"""达妙电机控制器类"""
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def __init__(self, slave_id=None, master_id=None, port=None, baudrate=None):
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"""
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初始化电机控制器
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:param slave_id: 从机ID，默认0x01
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:param master_id: 主机ID，默认0x11
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:param port: 串口端口，默认COM6
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:param baudrate: 波特率，默认921600
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"""
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# 初始化参数
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self.slave_id = slave_id if slave_id is not None else SLAVE_ID
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self.master_id = master_id if master_id is not None else MASTER_ID
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self.port = port if port is not None else PORT
|
||||
self.baudrate = baudrate if baudrate is not None else BAUDRATE
|
||||
|
||||
# 核心属性初始化
|
||||
self.serial_device = None # 串口设备
|
||||
self.motor = None # 电机实例
|
||||
self.motor_control = None # 电机控制器实例
|
||||
|
||||
# 初始化电机和串口
|
||||
self.init_motor()
|
||||
|
||||
def init_motor(self):
|
||||
"""初始化电机和串口"""
|
||||
try:
|
||||
# 1.初始化串口
|
||||
self.serial_device = serial.Serial(
|
||||
port=self.port,
|
||||
baudrate=self.baudrate,
|
||||
timeout=0.5
|
||||
)
|
||||
|
||||
# 2.创建电机实例
|
||||
self.motor = Motor(DM_Motor_Type.DM4310, self.slave_id, self.master_id)
|
||||
# 3.创建电机控制器实例
|
||||
self.motor_control = MotorControl(self.serial_device)
|
||||
# 4.添加电机
|
||||
self.motor_control.addMotor(self.motor)
|
||||
|
||||
print(f"✅ 电机初始化成功")
|
||||
print(f" - 串口：{self.port} | 波特率：{self.baudrate}")
|
||||
print(f" - 从机ID：{hex(self.slave_id)} | 主机ID：{hex(self.master_id)}")
|
||||
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"❌ 电机初始化失败：{e}")
|
||||
|
||||
def switch_control_mode(self, control_type):
|
||||
"""
|
||||
切换电机控制模式
|
||||
:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
|
||||
:return: 切换成功返回True，否则返回False
|
||||
"""
|
||||
try:
|
||||
result = self.motor_control.switchControlMode(self.motor, control_type)
|
||||
mode_name = self._get_mode_name(control_type)
|
||||
if result:
|
||||
print(f"✅ 切换到{mode_name}模式成功")
|
||||
# 切换模式后保存参数
|
||||
self.motor_control.save_motor_param(self.motor)
|
||||
else:
|
||||
print(f"❌ 切换到{mode_name}模式失败")
|
||||
return result
|
||||
except Exception as e:
|
||||
print(f"❌ 切换模式出错：{str(e)}")
|
||||
return False
|
||||
|
||||
def enable_motor(self):
|
||||
"""使能电机"""
|
||||
try:
|
||||
self.motor_control.enable(self.motor)
|
||||
print("✅ 电机使能成功")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"❌ 电机使能失败：{str(e)}")
|
||||
return False
|
||||
|
||||
def disable_motor(self):
|
||||
"""失能电机"""
|
||||
try:
|
||||
self.motor_control.disable(self.motor)
|
||||
print("✅ 电机失能成功")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"❌ 电机失能失败：{str(e)}")
|
||||
return False
|
||||
|
||||
def control_pos_vel(self, p_desired, v_desired):
|
||||
"""
|
||||
位置-速度模式控制
|
||||
:param p_desired: 目标位置（rad, 范围[-300, 300]）
|
||||
:param v_desired: 目标速度（rad/s, 范围[-30, 30]）
|
||||
"""
|
||||
try:
|
||||
# 发送运动指令
|
||||
# self.motor_control.set_zero_position(self.motor)
|
||||
self.motor_control.control_Pos_Vel(self.motor, p_desired, v_desired)
|
||||
time.sleep(0.1)
|
||||
print(f"✅ 位置-速度控制：位置={p_desired}rad | 速度={v_desired}rad/s")
|
||||
return True
|
||||
|
||||
except Exception as e:
|
||||
print(f"❌ 位置-速度控制出错：{str(e)}")
|
||||
return False
|
||||
|
||||
def close_serial(self):
|
||||
"""关闭串口"""
|
||||
try:
|
||||
if self.serial_device and self.serial_device.is_open:
|
||||
self.serial_device.close()
|
||||
print("✅ 串口关闭成功")
|
||||
return True
|
||||
except Exception as e:
|
||||
print(f"❌ 串口关闭失败：{str(e)}")
|
||||
return False
|
||||
|
||||
def _get_mode_name(self, control_type):
|
||||
"""
|
||||
获取模式名称
|
||||
:param control_type: 控制模式（Control_Type.POS_VEl/VEL/MIT）
|
||||
"""
|
||||
# 1.定义[枚举值--中文名称]的映射字典
|
||||
mode_map = {
|
||||
Control_Type.POS_VEL: "位置-速度模式",
|
||||
Control_Type.VEL: "速度模式",
|
||||
Control_Type.MIT: "MIT模式"
|
||||
}
|
||||
# 2.根据控制模式值获取中文名称 字典方法
|
||||
return mode_map.get(control_type, "未知模式") # “未知模式”默认值
|
||||
|
||||
def save_param(self):
|
||||
"""保存所有电机参数"""
|
||||
try:
|
||||
if self.motor is None:
|
||||
raise ValueError("电机实例为None，无法保存参数")
|
||||
|
||||
self.motor_control.save_motor_param(self.motor)
|
||||
print("电机参数保存成功")
|
||||
except Exception as e:
|
||||
print(f"❌ 电机参数保存失败：{str(e)}")
|
||||
|
||||
def refresh_motor_status(self):
|
||||
"""获得电机状态"""
|
||||
try:
|
||||
if self.motor is None:
|
||||
raise ValueError("电机实例为None，无法保存参数")
|
||||
|
||||
self.motor_control.refresh_motor_status(self.motor)
|
||||
print("电机状态刷新成功")
|
||||
except Exception as e:
|
||||
print(f"❌ 电机状态刷新失败：{str(e)}")
|
||||
|
||||
def get_position(self):
|
||||
"""获取电机位置"""
|
||||
try:
|
||||
if self.motor is None:
|
||||
raise ValueError("电机实例为None，无法保存参数")
|
||||
|
||||
position = self.motor.getPosition()
|
||||
print(f"获取电机位置成功，当前位置: {position}")
|
||||
return position
|
||||
except Exception as e:
|
||||
print(f"获取电机位置失败: {str(e)}")
|
||||
|
||||
def change_limit_param(self, motor_type, pmax, vmax, tmax):
|
||||
"""
|
||||
改变电机的PMAX VMAX TMAX
|
||||
:param motor_type: 电机的类型
|
||||
:param pmax: 电机的PMAX
|
||||
:param vmax: 电机的VMAX
|
||||
:param tmax: 电机的TAMX
|
||||
"""
|
||||
try:
|
||||
self.motor_control.change_limit_param(motor_type, pmax, vmax, tmax)
|
||||
print(
|
||||
f"电机限位参数修改成功 | 类型: {motor_type} | PMAX: {pmax} | VMAX: {vmax} | TMAX: {tmax}"
|
||||
)
|
||||
except Exception as e:
|
||||
print(f"修改电机限位参数失败: {str(e)}")
|
||||
|
||||
|
||||
def __del__(self):
|
||||
"""析构函数：确保程序退出时失能电机、关闭串口"""
|
||||
try:
|
||||
# 先检查串口是否打开，避免重复操作
|
||||
if self.serial_device and self.serial_device.is_open:
|
||||
self.disable_motor()
|
||||
self.close_serial()
|
||||
else:
|
||||
# 串口已关闭，无需重复操作，仅打印日志
|
||||
print("ℹ️ 串口已关闭，析构函数无需重复释放资源")
|
||||
except Exception as e:
|
||||
print(f"ℹ️ 析构函数执行警告：{str(e)}")
|
||||
|
||||
def dm_motor_control():
|
||||
# 1.创建电机控制器实例
|
||||
motor_controller = DMMotorController(
|
||||
slave_id=SLAVE_ID,
|
||||
master_id=MASTER_ID,
|
||||
port=PORT,
|
||||
baudrate=BAUDRATE
|
||||
)
|
||||
|
||||
try:
|
||||
# 切换到位置-速度模式
|
||||
motor_controller.switch_control_mode(Control_Type.POS_VEL)
|
||||
|
||||
# 使能电机
|
||||
motor_controller.enable_motor()
|
||||
|
||||
# 循环控制电机
|
||||
while True:
|
||||
print("运动前的位置", motor_controller.get_position()) # 需要测试断电后是否能读取得到
|
||||
motor_controller.control_pos_vel(p_desired=282.6, v_desired=30) # 450mm 665-215
|
||||
time.sleep(20)
|
||||
|
||||
motor_controller.refresh_motor_status()
|
||||
print("运动1的位置", motor_controller.get_position()) # 刷新的比较慢，可以等位置不变一段时间之后，再获取位置
|
||||
motor_controller.refresh_motor_status()
|
||||
|
||||
motor_controller.control_pos_vel(p_desired=-282.6, v_desired=30)
|
||||
time.sleep(20)
|
||||
|
||||
|
||||
except KeyboardInterrupt:
|
||||
print("\n⚠️ 用户手动停止程序")
|
||||
except Exception as e:
|
||||
print(f"\n❌ 程序运行出错：{str(e)}")
|
||||
finally:
|
||||
# 5. 无论是否出错，最终都要失能电机、关闭串口
|
||||
motor_controller.disable_motor()
|
||||
motor_controller.close_serial()
|
||||
print("✅ 程序正常退出")
|
||||
|
||||
# ---------调试接口----------
|
||||
if __name__ == '__main__':
|
||||
dm_motor_control()
|
||||
Reference in New Issue
Block a user