Robotic arm clamp block

1. Experiment introduction

The purpose of this experiment is to move the blocks from the gray area in the middle to the surrounding blocks of different colors.

First，we need put the yellow square in the gray area, and then run the code unit to the sixth unit in sequence.

At this time, the robotic arm will automatically grab the yellow square placed in the gray area, and then put it into the yellow area, and then the robotic arm will return to its original position.

Place the red square into the gray area and run the code of the seventh unit.

At this time, the robotic arm will automatically grab the yellow block placed in the gray area, then place it in the red area, and then the robotic arm will return to the initial position. . . . .

2. Code

Code path: /home/jetson/Dofbot/3.ctrl_Arm/9.clamp_block.ipynb

The following code content needs to be executed according to the actual step, and cannot be run all at once.

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#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device
# Create a robotic arm object
Arm = Arm_Device()
time.sleep(.1)

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# Define the function of clamping building blocks, enable=1: clamp, =0: release
def arm_clamp_block(enable):
 if enable == 0:
 Arm.Arm_serial_servo_write(6, 60, 400)
 else:
 Arm.Arm_serial_servo_write(6, 130, 400)
 time.sleep(.5)
# Define the mobile robot arm function to simultaneously control the movement of servos No. 1-5, p=[S1, S2, S3, S4, S5]
def arm_move(p, s_time = 500):
 for i in range(5):
 id = i + 1
 if id == 5:
 time.sleep(.1)
 Arm.Arm_serial_servo_write(id, p[i], int(s_time*1.2))
 else :
 Arm.Arm_serial_servo_write(id, p[i], s_time)
 time.sleep(.01)
 time.sleep(s_time/1000)
# The robotic arm moves upward
def arm_move_up():
 Arm.Arm_serial_servo_write(2, 90, 1500)
 Arm.Arm_serial_servo_write(3, 90, 1500)
 Arm.Arm_serial_servo_write(4, 90, 1500)
 time.sleep(.1)

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# Define variable parameters at different locations
p_mould = [90, 130, 0, 0, 90]
p_top = [90, 80, 50, 50, 270]
p_Brown = [90, 53, 33, 36, 270]
p_Yellow = [65, 22, 64, 56, 270]
p_Red = [117, 19, 66, 56, 270]
p_Green = [136, 66, 20, 29, 270]
p_Blue = [44, 66, 20, 28, 270]

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# Let the robotic arm move to a position ready to grab
arm_clamp_block(0)
arm_move(p_mould, 1000)
time.sleep(1)

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# Grab a block from the gray area and place it on the yellow area.
arm_move(p_top, 1000)
arm_move(p_Brown, 1000)
arm_clamp_block(1)
arm_move(p_top, 1000)
arm_move(p_Yellow, 1000)
arm_clamp_block(0)
arm_move(p_mould, 1000)
time.sleep(1)

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# Grab a block from the gray area and place it on the red area.
arm_move(p_top, 1000)
arm_move(p_Brown, 1000)
arm_clamp_block(1)
arm_move(p_top, 1000)
arm_move(p_Red, 1000)
arm_clamp_block(0)
arm_move_up()
arm_move(p_mould, 1100)
time.sleep(1)

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# Grab a block from the gray area and place it on the green area.
arm_move(p_top, 1000)
arm_move(p_Brown, 1000)
arm_clamp_block(1)
arm_move(p_top, 1000)
arm_move(p_Green, 1000)
arm_clamp_block(0)
arm_move_up()
arm_move(p_mould, 1100)
time.sleep(1)

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# Grab a block from the gray area and place it on the blue area.
arm_move(p_top, 1000)
arm_move(p_Brown, 1000)
arm_clamp_block(1)
arm_move(p_top, 1000)
arm_move(p_Blue, 1000)
arm_clamp_block(0)
arm_move_up()
arm_move(p_mould, 1100)
time.sleep(1)

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del Arm # Release the Arm object