Merge branch 'main' of https://github.com/thuasta/thuei-2

Author: Dongming-Qiao

thuei-1/LICENSE

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+# thuei-1
+Platform for the 1st Tsinghua University Embodied Intelligence Challenge
+
+## Installation
+```sh
+git clone https://github.com/thuasta/thuei-1.git /root/thuei-1
+```
+
+## Notice
+1. 请把thuei-1整个文件夹放到香橙派/root下，否则由于文件路径问题，代码会无法运行
+2. 由于OPi.GPIO与扩展板不适配，扩展板rgb灯无法操作，请注释掉相关函数
+3. 报错显示cv2不存在或者cv2中的函数不存在，请重装opencv

thuei-1/README.md

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+#!/usr/bin/env python3
+# encoding:utf-8
+import sys
+sys.path.append('/root/thuei-1/sdk-python/')
+import time
+import numpy as np
+from math import sqrt
+import matplotlib.pyplot as plt
+from ArmIK.InverseKinematics import *
+from ArmIK.Transform import getAngle
+from mpl_toolkits.mplot3d import Axes3D
+from HiwonderSDK.Board import setBusServoPulse,getBusServoPulse, setPWMServoPulse, getPWMServoPulse
+
+#机械臂根据逆运动学算出的角度进行移动
+ik = IK('arm')
+#设置连杆长度
+l1 = ik.l1
+l4 = ik.l4
+ik.setLinkLength(L1=l1+1.3, L4=l4)
+
+class ArmIK:
+    servo3Range = (500, 2500.0, 0, 180.0) #脉宽， 角度
+    servo4Range = (500, 2500.0, 0, 180.0)
+    servo5Range = (500, 2500.0, 0, 180.0)
+    servo6Range = (500, 2500.0, 0, 180.0)
+
+    def __init__(self):
+        self.setServoRange()
+
+    def setServoRange(self, servo3_Range=servo3Range, servo4_Range=servo4Range, servo5_Range=servo5Range, servo6_Range=servo6Range):
+        # 适配不同的舵机
+        self.servo3Range = servo3_Range
+        self.servo4Range = servo4_Range
+        self.servo5Range = servo5_Range
+        self.servo6Range = servo6_Range
+        self.servo3Param = (self.servo3Range[1] - self.servo3Range[0]) / (self.servo3Range[3] - self.servo3Range[2])
+        self.servo4Param = (self.servo4Range[1] - self.servo4Range[0]) / (self.servo4Range[3] - self.servo4Range[2])
+        self.servo5Param = (self.servo5Range[1] - self.servo5Range[0]) / (self.servo5Range[3] - self.servo5Range[2])
+        self.servo6Param = (self.servo6Range[1] - self.servo6Range[0]) / (self.servo6Range[3] - self.servo6Range[2])
+
+    def transformAngelAdaptArm(self, theta3, theta4, theta5, theta6):
+        #将逆运动学算出的角度转换为舵机对应的脉宽值
+        servo3 = int(round(theta3 * self.servo3Param + (self.servo3Range[1] + self.servo3Range[0])/2))
+        if servo3 > self.servo3Range[1] or servo3 < self.servo3Range[0]:
+            logger.info('servo3(%s)超出范围(%s, %s)', servo3, self.servo3Range[0], self.servo3Range[1])
+            return False
+
+        servo4 = int(round(theta4 * self.servo4Param + (self.servo4Range[1] + self.servo4Range[0])/2))
+        if servo4 > self.servo4Range[1] or servo4 < self.servo4Range[0]:
+            logger.info('servo4(%s)超出范围(%s, %s)', servo4, self.servo4Range[0], self.servo4Range[1])
+            return False
+
+        servo5 = int(round((self.servo5Range[1] + self.servo5Range[0])/2 + (90.0 - theta5) * self.servo5Param)) 
+        if servo5 > ((self.servo5Range[1] + self.servo5Range[0])/2 + 90*self.servo5Param) or servo5 < ((self.servo5Range[1] + self.servo5Range[0])/2 - 90*self.servo5Param):
+            logger.info('servo5(%s)超出范围(%s, %s)', servo5, self.servo5Range[0], self.servo5Range[1])
+            return False
+
+        if theta6 < -(self.servo6Range[3] - self.servo6Range[2])/2:
+            servo6 = int(round(((self.servo6Range[3] - self.servo6Range[2])/2 + (90 + (180 + theta6))) * self.servo6Param))
+        else:
+            servo6 = int(round(((self.servo6Range[3] - self.servo6Range[2])/2 - (90 - theta6)) * self.servo6Param)) + self.servo6Range[0]
+        if servo6 > self.servo6Range[1] or servo6 < self.servo6Range[0]:
+            logger.info('servo6(%s)超出范围(%s, %s)', servo6, self.servo6Range[0], self.servo6Range[1])
+            return False
+        return {"servo3": servo3, "servo4": servo4, "servo5": servo5, "servo6": servo6}
+
+    def servosMove(self, servos, movetime=None):
+        #驱动3,4,5,6号舵机转动
+        time.sleep(0.02)
+        if movetime is None:
+            max_d = 0
+            for i in  range(0, 4):
+                d = abs(getPWMServoPulse(i + 3) - servos[i])
+                if d > max_d:
+                    max_d = d
+            movetime = int(max_d*1)
+        setPWMServoPulse(3, servos[0], movetime)
+        setPWMServoPulse(4, servos[1], movetime)
+        setPWMServoPulse(5, servos[2], movetime)
+        setPWMServoPulse(6, servos[3], movetime)
+        
+#         setPWMServosPulse(movetime, 4, 3,servos[0], 4,servos[1], 5,servos[2], 6,servos[3])
+
+        return movetime
+
+    def setPitchRange(self, coordinate_data, alpha1, alpha2, da = 1):
+        #给定坐标coordinate_data和俯仰角的范围alpha1，alpha2, 自动在范围内寻找到的合适的解
+        #如果无解返回False,否则返回对应舵机角度,俯仰角
+        #坐标单位cm， 以元组形式传入，例如(0, 5, 10)
+        #da为俯仰角遍历时每次增加的角度
+        x, y, z = coordinate_data
+        if alpha1 >= alpha2:
+            da = -da
+        for alpha in np.arange(alpha1, alpha2, da):#遍历求解
+            result = ik.getRotationAngle((x, y, z), alpha)
+            if result:
+                theta3, theta4, theta5, theta6 = result['theta3'], result['theta4'], result['theta5'], result['theta6']               
+                servos = self.transformAngelAdaptArm(theta3, theta4, theta5, theta6)
+                if servos != False:
+                    return servos, alpha
+
+        return False
+
+    def setPitchRangeMoving(self, coordinate_data, alpha, alpha1, alpha2, movetime = None):
+        #给定坐标coordinate_data和俯仰角alpha,以及俯仰角范围的范围alpha1, alpha2，自动寻找最接近给定俯仰角的解，并转到目标位置
+        #如果无解返回False,否则返回舵机角度、俯仰角、运行时间
+        #坐标单位cm， 以元组形式传入，例如(0, 5, 10)
+        #alpha为给定俯仰角
+        #alpha1和alpha2为俯仰角的取值范围
+        #movetime为舵机转动时间，单位ms, 如果不给出时间，则自动计算
+        x, y, z = coordinate_data
+        result1 = self.setPitchRange((x, y, z), alpha, alpha1)
+        result2 = self.setPitchRange((x, y, z), alpha, alpha2)
+        if result1 != False:
+            data = result1
+            if result2 != False:
+                if abs(result2[1] - alpha) < abs(result1[1] - alpha):
+                    data = result2
+        else:
+            if result2 != False:
+                data = result2
+            else:
+                return False
+        servos, alpha = data[0], data[1]
+        movetime = self.servosMove((servos["servo3"], servos["servo4"], servos["servo5"], servos["servo6"]), movetime)
+        return servos, alpha, movetime
+ 
+if __name__ == "__main__":
+    AK = ArmIK()
+    #setPWMServoPulse(1, 1450, 1500)
+    #AK.setPitchRangeMoving((-5,0,2), -90,-90, 90, 1200)
+#     print(ik.getLinkLength())
+    print(AK.setPitchRangeMoving((0,6,18),0,-90, 90))
+    time.sleep(2)
+    #print(AK.setPitchRangeMoving((-4.8, 15, 1.5), 0, -90, 0, 2000))
+    #AK.drawMoveRange2D(-10, 10, 0.2, 10, 30, 0.2, 2.5, -90, 90, 1)