pyserial是一个串口通信驱动库，常用的Windows、Linux、MacOS等都可以安装，这里我使用的是树莓派4B来测试，这块板子还是很强大的，我们可以通过pyserial这个库来操作基于这块板子上的机器狗之类的设备。
1、四足机器狗
本人的是四足机器狗，每条腿有三个舵机，所以是3个自由度，四条腿总共12个舵机也就是12自由度，每个舵机分别控制着对应的关节，比如根关节控制基节，髋关节控制大腿，膝关节控制小腿，如下图：
实物机器人，里面的关节矩阵的顺序是，前面左边为第一组，右边为第二组，后面的右边为第三组，后面的左边为第四组。
2、OS环境
在安装之前我们一般都先熟悉下本地环境，这样方便下载安装对应的版本。
cat /etc/os-release
NAME="Ubuntu"
VERSION="20.04.4 LTS (Focal Fossa)"
ID=ubuntu
ID_LIKE=debian
PRETTY_NAME="Ubuntu 20.04.4 LTS"
VERSION_ID="20.04"
HOME_URL="https://www.ubuntu.com/"
SUPPORT_URL="https://help.ubuntu.com/"
BUG_REPORT_URL="https://bugs.launchpad.net/ubuntu/"
PRIVACY_POLICY_URL="https://www.ubuntu.com/legal/terms-and-policies/privacy-policy"
VERSION_CODENAME=focal
UBUNTU_CODENAME=focal查看芯片的类型：uname -a
Linux yahboom 5.4.0-1069-raspi #79-Ubuntu SMP PREEMPT Thu Aug 18 18:15:22 UTC 2022 aarch64 aarch64 aarch64 GNU/Linux
可以看到是64位的架构而且是全新的ARMv8架构，使用的也是全新的A64指令集，其中 raspi 就是Raspberry Pi树莓派的别名，这个就是本人的树莓派在Ubuntu 20版本的环境情况。
3、安装pyserial
安装命令：pip3 install pyserial
安装好了之后，我们来测试下是否成功，安装包是pyserial，导入模块是serial。
import serial
print(serial.VERSION)
#'3.5'
#dir(serial)
['CR', 'EIGHTBITS', 'FIVEBITS', 'LF', 'PARITY_EVEN', 'PARITY_MARK', 'PARITY_NAMES', 'PARITY_NONE', 'PARITY_ODD', 'PARITY_SPACE', 'PortNotOpenError', 'PosixPollSerial', 'SEVENBITS', 'SIXBITS', 'STOPBITS_ONE', 'STOPBITS_ONE_POINT_FIVE', 'STOPBITS_TWO', 'Serial', 'SerialBase', 'SerialException', 'SerialTimeoutException', 'Timeout', 'VERSION', 'VTIMESerial', 'XOFF', 'XON', '__builtins__', '__cached__', '__doc__', '__file__', '__loader__', '__name__', '__package__', '__path__', '__spec__', '__version__', 'absolute_import', 'basestring', 'importlib', 'io', 'iterbytes', 'os', 'protocol_handler_packages', 'serial_for_url', 'serialposix', 'serialutil', 'sys', 'time', 'to_bytes', 'unicode']4、串口通信接口
4.1、list_ports接口列表
首先我们列出有哪些可用的接口
from serial.tools import list_ports
plist = list_ports.comports()
print(plist[0][0])
#'/dev/ttyAMA0'这个'/dev/ttyAMA0'就是树莓派4B与上位机的通讯接口，得到了接口名称之后，我们就可以打开这个接口进行通信了。
4.2、打开接口
ser = serial.Serial('/dev/ttyAMA0',115200,timeout=5)这里的超时时间推荐指定，避免因为读取不到数据，程序会一直等待。
print(ser)
#Serial<id=0xffff87addc40, open=True>(port='/dev/ttyAMA0', baudrate=115200, bytesize=8, parity='N', stopbits=1, timeout=None, xonxoff=False, rtscts=False, dsrdtr=False)这里在串口设备名称与端口指的是同一个东西：ser.name和ser.port
查看里面包含哪些方法与属性： dir(ser)
['BAUDRATES', 'BAUDRATE_CONSTANTS', 'BYTESIZES', 'PARITIES', 'STOPBITS', '_SAVED_SETTINGS', '__abstractmethods__', '__class__', '__del__', '__delattr__', '__dict__', '__dir__', '__doc__', '__enter__', '__eq__', '__exit__', '__format__', '__ge__', '__getattribute__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__iter__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__next__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_abc_impl', '_baudrate', '_break_state', '_bytesize', '_checkClosed', '_checkReadable', '_checkSeekable', '_checkWritable', '_dsrdtr', '_dtr_state', '_exclusive', '_inter_byte_timeout', '_parity', '_port', '_reconfigure_port', '_rs485_mode', '_rts_state', '_rtscts', '_set_rs485_mode', '_set_special_baudrate', '_stopbits', '_timeout', '_update_break_state', '_update_dtr_state', '_update_rts_state', '_write_timeout', '_xonxoff', 'applySettingsDict', 'apply_settings', 'baudrate', 'break_condition', 'bytesize', 'cancel_read', 'cancel_write', 'cd', 'close', 'closed', 'cts', 'dsr', 'dsrdtr', 'dtr', 'exclusive', 'fd', 'fileno', 'flush', 'flushInput', 'flushOutput', 'getCD', 'getCTS', 'getDSR', 'getRI', 'getSettingsDict', 'get_settings', 'inWaiting', 'in_waiting', 'interCharTimeout', 'inter_byte_timeout', 'iread_until', 'isOpen', 'is_open', 'isatty', 'name', 'nonblocking', 'open', 'out_waiting', 'parity', 'pipe_abort_read_r', 'pipe_abort_read_w', 'pipe_abort_write_r', 'pipe_abort_write_w', 'port', 'portstr', 'read', 'read_all', 'read_until', 'readable', 'readall', 'readinto', 'readline', 'readlines', 'reset_input_buffer', 'reset_output_buffer', 'ri', 'rs485_mode', 'rts', 'rtscts', 'seek', 'seekable', 'sendBreak', 'send_break', 'setDTR', 'setPort', 'setRTS', 'set_input_flow_control', 'set_output_flow_control', 'stopbits', 'tell', 'timeout', 'truncate', 'writable', 'write', 'writeTimeout', 'write_timeout', 'writelines', 'xonxoff']
4.3、字节数组
打开串口接口，我们试着来读取一行：b_data=ser.readline()
#b'U\x00\t\x12\x01\x14\xcf\x00\xaa'
转成列表就是十进制的形式，看起来就比较直观点
list(b'U\x00\t\x12\x01\x14\xcf\x00\xaa')
#[85, 0, 9, 18, 1, 20, 207, 0, 170]这里可以看到我们实际读取的是长度为9的一个数组，我们思考下，我们操作机器人，应该也是写入长度为9的数组就可以控制机器人的各种状态了，事实证明，想法是正确的。
4.4、serial参数设置
一些常见的重要参数如下：
port：串口的设备名或接口(None)
baudrate：波特率，50, 75, 110, 134, 150, 200, 300, 600, 1200, 1800, 2400, 4800, 9600, 19200, 38400, 57600, 115200, 230400, 460800, 500000, 576000, 921600, 1000000, 1152000, 1500000, 2000000, 2500000, 3000000, 3500000, 4000000
bytesize：数据位，每个字节的位数，一般是7或8，默认是8
parity：校验位，PARITY_NONE, PARITY_EVEN, PARITY_ODD, PARITY_MARK, PARITY_SPACE
stopbits：停止位，1位停止位、1.5位停止位、2位停止位(STOPBITS_ONE, STOPBITS_ONE_POINT_FIVE, STOPBITS_TWO)
xonxoff：软件流控（True, False）
rtscts：硬件（RTS/CTS）流控（True, False）
dsr/dtr：硬件（DSR/DTR）流控（ True, False）
timeout：读超时，推荐指定，避免堵塞
writeTimeout：写超时
其中波特率需要注意以下三点
传输速度：波特率越高，传输速度越快，但也会增加传输错误的可能性。
传输距离：波特率越高，传输距离越短，因为高速传输会导致信号衰减。
硬件支持：波特率需要与硬件设备匹配，如果设备不支持高速传输，则无法使用高波特率。
5、机器狗
有了上面的知识铺垫，我们来实际操控机器狗，先让机器狗往前跑动起来。源码有比较多的功能，这里我只针对机器狗的向前跑动，，将代码精简出来，让我们对这个串口的通信有一个更加清晰的了解
5.1、代码
gedit MYDOG.py
import serial
def conver2u8(data, limit):
return int(128 + 128 * data / limit)
class DOG():
def __init__(self,port="/dev/ttyAMA0"):
self.ser = serial.Serial(port, 115200, timeout=0.5)
#往前跑动
def moveX(self,step):
u8v = conver2u8(step, 25)
mode = 0x01
order = 0x30
value = []
value_sum = 0
value.append(u8v)
value_sum = value_sum + u8v
sum_data = ((1 + 0x08) + mode + order + value_sum) % 256
sum_data = 255 - sum_data
tx = [0x55, 0x00, (1 + 0x08), mode, order]
tx.extend(value)
tx.extend([sum_data, 0x00, 0xAA])
print(tx)
self.ser.write(tx)
# 停止
def stop(self):
self.moveX(0)
测试下结果：
import MYDOG
mydog = MYDOG.DOG()
mydog.moveX(5)这样机器狗就会往前跑动了，step是设置机器狗的步伐宽度，可以看到初始化接口的设备和波特率以及推荐加上超时时间，我们就通过write()方法进行写入即可。mydog.stop()也就是发送的步伐宽度为0就可以让机器狗停止了。
5.2、ser.write写入
我们可以打印tx变量的值，这样就可以查看写入了一些什么内容：
跑动时
[85, 0, 9, 1, 48, 153, 44, 0, 170]
b'U\x00\t\x01\x30\x99\x2c\x00\xaa'
停止时
[85, 0, 9, 1, 48, 128, 69, 0, 170]
b'U\x00\t\x01\x30\x80\x45\x00\xaa'
那么从上面分析来看，我们只需要写入一串列表数值即可，所以精简为如下三条命令就可以让机器狗跑动起来。
精简代码如下：
import serial
ser=serial.Serial("/dev/ttyAMA0", 115200, timeout=0.5)
ser.write([85, 0, 9, 1, 48, 153, 44, 0, 170])当然这里的十进制也可以使用十六进制的形式代替：
ser.write([0x55, 0x0, 0x9, 0x1, 0x30, 0x99, 0x2c, 0x0, 0xaa])5.3、ser.readline读取
再次来查看下接收到的信息，这里将超时时间调大点不然获取不到数据：
import serial
ser=serial.Serial("/dev/ttyAMA0", 115200, timeout=5)
ser.readline()跑动时：b'U\x00\t\x01\x30\x99\x2c\x00\xaa'
停止时：b'U\x00\t\x12\x01d\x7f\x00\xaa'
到这里就完成了，串口通讯的读写操作，这里的值是字节数组、十进制数组、十六进制数组等都是等价的，也就是说我们写入这样的字节数组ser.write(b'U\x00\t\x01\x30\x99\x2c\x00\xaa')同样也是可以让机器狗跑起来，效果是一样的。
6、完整代码与功能
上述是通过写入串口数据来让机器狗跑动起来，熟悉串口库的使用，这里贴出完整代码，里面常见的操作机器狗的功能都有，代码如下：
import serial
import struct
import time
__version__ = '2.0.7'
__last_modified__ = '2022/11/18'
"""
ORDER 用来存放命令地址和对应数据
ORDER is used to store the command address and corresponding data
"""
ORDER = {
"BATTERY": [0x01, 100],
"PERFORM": [0x03, 0],
"CALIBRATION": [0x04, 0],
"UPGRADE": [0x05, 0],
"MOVE_TEST": [0x06, 1],
"FIRMWARE_VERSION": [0x07],
"GAIT_TYPE": [0x09, 0x00],
"BT_NAME": [0x13, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"UNLOAD_MOTOR": [0x20, 0],
"LOAD_MOTOR": [0x20, 0],
"VX": [0x30, 128],
"VY": [0x31, 128],
"VYAW": [0x32, 128],
"TRANSLATION": [0x33, 0, 0, 0],
"ATTITUDE": [0x36, 0, 0, 0],
"PERIODIC_ROT": [0x39, 0, 0, 0],
"MarkTime": [0x3C, 0],
"MOVE_MODE": [0x3D, 0],
"ACTION": [0x3E, 0],
"PERIODIC_TRAN": [0x80, 0, 0, 0],
"MOTOR_ANGLE": [0x50, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128, 128],
"MOTOR_SPEED": [0x5C, 1],
"LEG_POS": [0x40, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0],
"IMU": [0x61, 0],
"ROLL": [0x62, 0],
"PITCH": [0x63, 0],
"YAW": [0x64, 0]
}
"""
PARAM 用来存放机器狗的参数限制范围
PARAM is used to store the parameter limit range of the robot dog
"""
PARAM = {
"TRANSLATION_LIMIT": [35, 18, [75, 115]], # X Y Z 平移范围 Scope of translation
"ATTITUDE_LIMIT": [20, 15, 11], # Roll Pitch Yaw 姿态范围 Scope of posture
"LEG_LIMIT": [35, 18, [75, 115]], # 腿长范围 Scope of the leg
"MOTOR_LIMIT": [[-73, 57], [-66, 93], [-31, 31]], # 下 中 上 舵机范围 Lower, middle and upper steering gear range
"PERIOD_LIMIT": [[1.5, 8]],
"MARK_TIME_LIMIT": [10, 35], # 原地踏步高度范围 Stationary height range
"VX_LIMIT": 25, # X速度范围 X velocity range
"VY_LIMIT": 18, # Y速度范围 Y velocity range
"VYAW_LIMIT": 100 # 旋转速度范围 Rotation speed range
}
def search(data, list):
for i in range(len(list)):
if data == list[i]:
return i + 1
return -1
def conver2u8(data, limit, mode=0):
"""
将实际参数转化为0到255的单字节数据
Convert the actual parameters to single byte data from 0 to 255
"""
max = 0xff
if mode == 0:
min = 0x00
else:
min = 0x01
if not isinstance(limit, list):
if data >= limit:
return max
elif data <= -limit:
return min
else:
return int(128 + 128 * data / limit)
else:
limitmin = limit[0]
limitmax = limit[1]
if data >= limitmax:
return max
elif data <= limitmin:
return min
else:
return int(255 / (limitmax - limitmin) * (data - limitmin))
def conver2float(data, limit):
if not isinstance(limit, list):
return (data - 128.0) / 255.0 * limit
else:
limitmin = limit[0]
limitmax = limit[1]
return data / 255.0 * (limitmax - limitmin) + limitmin
def Byte2Float(rawdata):
a = bytearray()
a.append(rawdata[3])
a.append(rawdata[2])
a.append(rawdata[1])
a.append(rawdata[0])
return struct.unpack("!f", a)[0]
class DOGZILLA():
"""
在实例化DOGZILLA时需要指定上位机与机器狗的串口通讯接口
When instantiating DOGZILLA, you need to specify the serial
communication interface between the upper computer and the machine dog
"""
def __init__(self, port="/dev/ttyAMA0"):
self.ser = serial.Serial(port, 115200, timeout=0.5)
self.rx_FLAG = 0
self.rx_COUNT = 0
self.rx_ADDR = 0
self.rx_LEN = 0
self.rx_data = bytearray(50)
self.__delay = 0.05
pass
def __send(self, key, index=1, len=1):
mode = 0x01
order = ORDER[key][0] + index - 1
value = []
value_sum = 0
for i in range(0, len):
value.append(ORDER[key][index + i])
value_sum = value_sum + ORDER[key][index + i]
sum_data = ((len + 0x08) + mode + order + value_sum) % 256
sum_data = 255 - sum_data
tx = [0x55, 0x00, (len + 0x08), mode, order]
tx.extend(value)
tx.extend([sum_data, 0x00, 0xAA])
self.ser.write(tx)
def __read(self, addr, read_len=1):
mode = 0x02
sum_data = (0x09 + mode + addr + read_len) % 256
sum_data = 255 - sum_data
tx = [0x55, 0x00, 0x09, mode, addr, read_len, sum_data, 0x00, 0xAA]
# time.sleep(0.1)
self.ser.flushInput()
self.ser.write(tx)
def stop(self):
self.move_x(0)
self.move_y(0)
self.mark_time(0)
self.turn(0)
def move(self, direction, step):
if direction in ['x', 'X']:
self.move_x(step)
elif direction in ['y', 'Y']:
self.move_y(step)
else:
print("ERROR!Invalid direction!")
def move_x(self, step):
if step > 20:
step = 20
elif step < -20:
step = -20
ORDER["VX"][1] = conver2u8(step, PARAM["VX_LIMIT"])
self.__send("VX")
def move_y(self, step):
if step > 18:
step = 18
elif step < -18:
step = -18
ORDER["VY"][1] = conver2u8(step, PARAM["VY_LIMIT"])
self.__send("VY")
def turn(self, step):
if step > 70:
step = 70
elif step < -70:
step = -70
elif 0 < step < 30:
step = 30
elif -30 < step < 0:
step = -30
ORDER["VYAW"][1] = conver2u8(step, PARAM["VYAW_LIMIT"])
self.__send("VYAW")
def forward(self, step):
self.move_x(abs(step))
def back(self, step):
self.move_x(-abs(step))
def left(self, step):
self.move_y(abs(step))
def right(self, step):
self.move_y(-abs(step))
def turnleft(self, step):
self.turn(abs(step))
def turnright(self, step):
self.turn(-abs(step))
def __translation(self, direction, data):
index = search(direction, ['x', 'y', 'z'])
if index == -1:
print("ERROR!Direction must be 'x', 'y' or 'z'")
return
ORDER["TRANSLATION"][index] = conver2u8(data, PARAM["TRANSLATION_LIMIT"][index - 1])
self.__send("TRANSLATION", index)
def translation(self, direction, data):
"""
使机器狗足端不动，身体进行三轴平动
Keep the robot's feet stationary and the body makes three-axis translation
"""
if (isinstance(direction, list)):
if (len(direction) != len(data)):
print("ERROR!The length of direction and data don't match!")
return
for i in range(len(data)):
self.__translation(direction[i], data[i])
else:
self.__translation(direction, data)
def __attitude(self, direction, data):
index = search(direction, ['r', 'p', 'y'])
if index == -1:
print("ERROR!Direction must be 'r', 'p' or 'y'")
return
ORDER["ATTITUDE"][index] = conver2u8(data, PARAM["ATTITUDE_LIMIT"][index - 1])
self.__send("ATTITUDE", index)
def attitude(self, direction, data):
"""
使机器狗足端不动，身体进行三轴转动
Keep the robot's feet stationary and the body makes three-axis rotation
"""
if (isinstance(direction, list)):
if (len(direction) != len(data)):
print("ERROR!The length of direction and data don't match!")
return
for i in range(len(data)):
self.__attitude(direction[i], data[i])
else:
self.__attitude(direction, data)
def action(self, action_id):
"""
使机器狗狗指定的预设动作
Make the robot do the specified preset action
"""
if action_id <= 0 or action_id > 255:
print("ERROR!Illegal Action ID!")
return
ORDER["ACTION"][1] = action_id
self.__send("ACTION")
def reset(self):
"""
机器狗停止运动，所有参数恢复到初始状态
The robot dog stops moving and all parameters return to the initial state
"""
self.action(255)
time.sleep(0.2)
def leg(self, leg_id, data):
"""
控制机器狗的单腿的三轴移动
Control the three-axis movement of a single leg of the robot
"""
value = [0, 0, 0]
if leg_id not in [1, 2, 3, 4]:
print("Error!Illegal Index!")
return
if len(data) != 3:
message = "Error!Illegal Value!"
return
for i in range(3):
try:
value[i] = conver2u8(data[i], PARAM["LEG_LIMIT"][i])
except:
print("Error!Illegal Value!")
for i in range(3):
index = 3 * (leg_id - 1) + i + 1
ORDER["LEG_POS"][index] = value[i]
self.__send("LEG_POS", index)
def __motor(self, index, data):
ORDER["MOTOR_ANGLE"][index] = conver2u8(data, PARAM["MOTOR_LIMIT"][index % 3 - 1])
self.__send("MOTOR_ANGLE", index)
def motor(self, motor_id, data):
"""
控制机器狗单个舵机转动
Control the rotation of a single steering gear of the robot
"""
MOTOR_ID = [11, 12, 13, 21, 22, 23, 31, 32, 33, 41, 42, 43]
if isinstance(motor_id, list):
if len(motor_id) != len(data):
print("Error!Length Mismatching!")
return
index = []
for i in range(len(motor_id)):
temp_index = search(motor_id[i], MOTOR_ID)
if temp_index == -1:
print("Error!Illegal Index!")
return
index.append(temp_index)
for i in range(len(index)):
self.__motor(index[i], data[i])
else:
index = search(motor_id, MOTOR_ID)
self.__motor(index, data)
def unload_motor(self, leg_id):
if leg_id not in [1, 2, 3, 4]:
print('ERROR!leg_id must be 1, 2, 3 or 4')
return
ORDER["UNLOAD_MOTOR"][1] = 0x10 + leg_id
self.__send("UNLOAD_MOTOR")
def unload_allmotor(self):
ORDER["UNLOAD_MOTOR"][1] = 0x01
self.__send("UNLOAD_MOTOR")
def load_motor(self, leg_id):
if leg_id not in [1, 2, 3, 4]:
print('ERROR!leg_id must be 1, 2, 3 or 4')
return
ORDER["LOAD_MOTOR"][1] = 0x20 + leg_id
self.__send("LOAD_MOTOR")
def load_allmotor(self):
ORDER["LOAD_MOTOR"][1] = 0x00
self.__send("LOAD_MOTOR")
def __periodic_rot(self, direction, period):
index = search(direction, ['r', 'p', 'y'])
if index == -1:
print("ERROR!Direction must be 'r', 'p' or 'y'")
return
if period == 0:
ORDER["PERIODIC_ROT"][index] = 0
else:
ORDER["PERIODIC_ROT"][index] = conver2u8(period, PARAM["PERIOD_LIMIT"][0], mode=1)
self.__send("PERIODIC_ROT", index)
def periodic_rot(self, direction, period):
"""
使机器狗周期性转动
Make the robot rotate periodically
"""
if (isinstance(direction, list)):
if (len(direction) != len(period)):
print("ERROR!The length of direction and data don't match!")
return
for i in range(len(period)):
self.__periodic_rot(direction[i], period[i])
else:
self.__periodic_rot(direction, period)
def __periodic_tran(self, direction, period):
index = search(direction, ['x', 'y', 'z'])
if index == -1:
print("ERROR!Direction must be 'x', 'y' or 'z'")
return
if period == 0:
ORDER["PERIODIC_TRAN"][index] = 0
else:
ORDER["PERIODIC_TRAN"][index] = conver2u8(period, PARAM["PERIOD_LIMIT"][0], mode=1)
self.__send("PERIODIC_TRAN", index)
def periodic_tran(self, direction, period):
"""
使机器狗周期性平动
Make the robot translate periodically
"""
if (isinstance(direction, list)):
if (len(direction) != len(period)):
print("ERROR!The length of direction and data don't match!")
return
for i in range(len(period)):
self.__periodic_tran(direction[i], period[i])
else:
self.__periodic_tran(direction, period)
def mark_time(self, data):
"""
使机器狗原地踏步
Make the robot marks time
"""
if data == 0:
ORDER["MarkTime"][1] = 0
else:
ORDER["MarkTime"][1] = conver2u8(data, PARAM["MARK_TIME_LIMIT"], mode=1)
self.__send("MarkTime")
def pace(self, mode):
"""
改变机器狗的踏步频率
Change the step frequency of the robot
"""
if mode == "normal":
value = 0x00
elif mode == "slow":
value = 0x01
elif mode == "high":
value = 0x02
else:
print("ERROR!Illegal Value!")
return
ORDER["MOVE_MODE"][1] = value
self.__send("MOVE_MODE")
def gait_type(self, mode):
"""
改变机器狗的步态
Change the gait of the robot
"""
if mode == "trot":
value = 0x00
elif mode == "walk":
value = 0x01
elif mode == "high_walk":
value = 0x02
ORDER["GAIT_TYPE"][1] = value
self.__send("GAIT_TYPE")
def imu(self, mode):
"""
开启/关闭机器狗自稳状态
Turn on / off the self stable state of the robot dog
"""
if mode != 0 and mode != 1:
print("ERROR!Illegal Value!")
return
ORDER["IMU"][1] = mode
self.__send("IMU")
def perform(self, mode):
"""
开启/关闭机器狗循环做动作状态
Turn on / off the action status of the robot dog cycle
"""
if mode != 0 and mode != 1:
print("ERROR!Illegal Value!")
return
ORDER["PERFORM"][1] = mode
self.__send("PERFORM")
def motor_speed(self, speed):
"""
调节舵机转动速度，只在单独控制舵机的情况下有效
Adjust the steering gear rotation speed,
only effective when control the steering gear separately
"""
if speed < 0 or speed > 255:
print("ERROR!Illegal Value!The speed parameter needs to be between 0 and 255!")
return
if speed == 0:
speed = 1
ORDER["MOTOR_SPEED"][1] = speed
self.__send("MOTOR_SPEED")
def read_motor(self, out_int=False):
"""
读取12个舵机的角度 Read the angles of the 12 steering gear
"""
self.__read(ORDER["MOTOR_ANGLE"][0], 12)
time.sleep(self.__delay)
angle = []
if self.__unpack():
for i in range(12):
index = round(conver2float(self.rx_data[i], PARAM["MOTOR_LIMIT"][i % 3]), 2)
if out_int:
if index > 0:
angle.append(int(index+0.5))
elif index < 0:
angle.append(int(index-0.5))
else:
angle.append(int(index))
else:
angle.append(index)
return angle
def read_battery(self):
self.__read(ORDER["BATTERY"][0], 1)
time.sleep(self.__delay)
battery = 0
if self.__unpack():
battery = int(self.rx_data[0])
return battery
def read_version(self):
self.__read(ORDER["FIRMWARE_VERSION"][0], 10)
time.sleep(self.__delay)
firmware_version = 'Null'
if self.__unpack():
# data = self.rx_data[0:10]
data = self.rx_data[2:10]
firmware_version = data.decode("utf-8").strip('\0')
return firmware_version
def read_roll(self, out_int=False):
self.__read(ORDER["ROLL"][0], 4)
time.sleep(self.__delay)
roll = 0
if self.__unpack():
roll = Byte2Float(self.rx_data)
if out_int:
tmp = int(roll)
return tmp
return round(roll, 2)
def read_pitch(self, out_int=False):
self.__read(ORDER["PITCH"][0], 4)
time.sleep(self.__delay)
pitch = 0
if self.__unpack():
pitch = Byte2Float(self.rx_data)
if out_int:
tmp = int(pitch)
return tmp
return round(pitch, 2)
def read_yaw(self, out_int=False):
self.__read(ORDER["YAW"][0], 4)
time.sleep(self.__delay)
yaw = 0
if self.__unpack():
yaw = Byte2Float(self.rx_data)
if out_int:
tmp = int(yaw)
return tmp
return round(yaw, 2)
def __unpack(self):
n = self.ser.inWaiting()
rx_CHECK = 0
if n:
data = self.ser.read(n)
for num in data:
if self.rx_FLAG == 0:
if num == 0x55:
self.rx_FLAG = 1
else:
self.rx_FLAG = 0
elif self.rx_FLAG == 1:
if num == 0x00:
self.rx_FLAG = 2
else:
self.rx_FLAG = 0
elif self.rx_FLAG == 2:
self.rx_LEN = num
self.rx_FLAG = 3
elif self.rx_FLAG == 3:
self.rx_TYPE = num
self.rx_FLAG = 4
elif self.rx_FLAG == 4:
self.rx_ADDR = num
self.rx_FLAG = 5
elif self.rx_FLAG == 5:
if self.rx_COUNT == (self.rx_LEN - 9):
self.rx_data[self.rx_COUNT] = num
self.rx_COUNT = 0
self.rx_FLAG = 6
elif self.rx_COUNT < self.rx_LEN - 9:
self.rx_data[self.rx_COUNT] = num
self.rx_COUNT = self.rx_COUNT + 1
elif self.rx_FLAG == 6:
for i in self.rx_data[0:(self.rx_LEN - 8)]:
rx_CHECK = rx_CHECK + i
rx_CHECK = 255 - (self.rx_LEN + self.rx_TYPE + self.rx_ADDR + rx_CHECK) % 256
if num == rx_CHECK:
self.rx_FLAG = 7
else:
self.rx_FLAG = 0
self.rx_COUNT = 0
self.rx_ADDR = 0
self.rx_LEN = 0
elif self.rx_FLAG == 7:
if num == 0x00:
self.rx_FLAG = 8
else:
self.rx_FLAG = 0
self.rx_COUNT = 0
self.rx_ADDR = 0
self.rx_LEN = 0
elif self.rx_FLAG == 8:
if num == 0xAA:
self.rx_FLAG = 0
self.rx_COUNT = 0
return True
else:
self.rx_FLAG = 0
self.rx_COUNT = 0
self.rx_ADDR = 0
self.rx_LEN = 0
return False
def calibration(self, state):
"""
用于软件标定，请谨慎使用！！！ For software calibration, please use with caution!!!
"""
if state:
ORDER["CALIBRATION"][1] = 1
else:
ORDER["CALIBRATION"][1] = 0
self.__send("CALIBRATION")
if __name__ == '__main__':
g_dog = DOGZILLA()
version = g_dog.read_version()
print("version:", version)
其余的一些功能也都解释如下，先导入DOGZILLA：
from DOGZILLALib import DOGZILLA
mydog = DOGZILLA()左转弯：mydog.turn(50)
右转弯：mydog.turn(-50)
这个是偏航角VYAW速度的设置
左平移：mydog.left(10)
右平移：mydog.right(10)
这个是Y轴的VY的速度设置
机器狗足端不动，沿着三轴分别平移：mydog.translation(['x','y','z'],[-30,-10,100])
这里的机器狗将分别，往后-30，往右-10，往上100这样的运动
机器狗足端不动，沿着三轴分别转动：mydog.attitude(['r','p','y'],[30,60,90])
这里的RPY分别是ROLL横滚角、PITCH俯仰角、YAW偏航角，对这部分感兴趣的可以查阅：
欧拉角(横滚角、俯仰角、偏航角)、旋转矩阵、四元数的转换与解决万向节死锁
预设的动作：mydog.action，比如撒尿动作：mydog.action(11)
停止运动，所有参数恢复到初始状态：mydog.reset()
单腿运动：mydog.leg(2,[-40,-30,40])，这里是第二条腿(前面右边)，沿着X轴后退40，y轴往右30，Z轴往下40
单个舵机转动：mydog.motor(22,60)，这里是第二条的髋关节舵机，控制大腿的编号
周期性转动：mydog.periodic_rot(['p','y'],[20,30])，RPY,这里是选P,Y角做转动，也就是俯仰角和偏航角
周期性平动：mydog.periodic_tran(['x','y'],[20,30])，这里是沿着X,Y轴的平移
原地踏步：mydog.mark_time(1)
踏步频率：mydog.pace('slow') # 'normal'、'slow'、'high'
机器狗步态：mydog.gait_type('walk') # 'trot'、'walk'、'high_walk'
开启/关闭机器狗自稳状态：mydog.imu(0)
开启/关闭机器狗循环做动作状态：mydog.perform(1)
舵机转速(只在单独控制舵机的情况下有效)：mydog.motor_speed(10)
读取12个舵机的角度：mydog.read_motor()
#[15.2, 40.62, 0.61, 14.18, 41.25, 0.85, 14.69, 51.22, 0.61, 15.2, 50.6, 0.36]
这里会随着机器狗的运动，数据会实时变化。
分别读取机器狗的横滚角、俯仰角、偏航角，同样的舵机的变化，也将导致欧拉角的实时变化。
mydog.read_roll() # 0.37
mydog.read_pitch() # 0.17
mydog.read_yaw() # -21.3电池电量：mydog.read_battery() # 81
固件版本：mydog.read_version() # '3.1.7-Y'
到这里就结束了，最后总结下，主要是通过机器狗来熟悉这个pyserial串口通讯库，整个代码看下来是比较简洁和高效，只需要连接到指定的串口接口，以及指定波特率与超时时间，就能够轻松建立起通讯连接，然后根据地址写入对应的数据就可以完成对机器狗的操作了。
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