Calibrate the Robotic Arm

This case requires starting the corresponding Docker for Dofbot to run!

I. API Introduction

1. The API for turning on or off bus servo torque is: Arm_serial_set_torque(enable)

Parameter explanation:

enable: enable=0 turns off torque, the robotic arm can manually adjust the servo angle and does not receive level signals; enable=1 turns on torque, the servo receives level signals to maintain the current angle, and commands can be sent to change the angle. Return value: None.

2. Arm_serial_servo_write_offset_switch(id)

Parameter explanation:

id: When id=0, clear all servo neutral position adjustments and restore defaults; id=1~6 corresponds to the six servo IDs. After receiving this command, the underlying microcontroller will read the angle data of the corresponding ID servo. If it's within a reasonable range, it will be saved; if it exceeds the range or the servo ID cannot be found, it will not be saved. Return value: None.

3. Arm_serial_servo_write_offset_state()

Parameter explanation:

Return value: Returns the state of setting neutral position deviation, state=0 means the servo was not detected; state=1 means neutral position set successfully; state=2 means the neutral position setting exceeds the range value.

II. Code Content

Code path: /root/Dofbot/2.sys_settings/2.Offset/offset.ipynb

This code cannot be executed all at once in sequence; it must be executed step by step to ensure correct adjustment. The result of the adjustment is to keep the robotic arm in an upright position.

Note: This program should only be used when adjusting the neutral position. Do not use it arbitrarily, otherwise it will cause inaccurate neutral position and affect grasping performance.

​x
#!/usr/bin/env   python3
#coding=utf-8
import   time
from   Arm_Lib import Arm_Device
​
# Create robotic arm object
Arm = Arm_Device()
time.sleep(.1)
# Make servos return to center upright position
Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 180, 1000)
time.sleep(2)
# Turn off torque, now you can manually adjust servo angles by hand
Arm.Arm_serial_set_torque(0)
# After adjusting the angle of a certain servo, you can individually set the neutral position deviation of that servo
id = 6
Arm.Arm_serial_servo_write_offset_switch(id)
time.sleep(.1)
state   = Arm.Arm_serial_servo_write_offset_state()
if   state == 1:
    print("set offset ok!")
elif state == 2:
    print("error! set offset overrun !")
elif state == 0:
    print("error! set offset error !")
# You can also set all servos (1-6) neutral position deviation at once
for i in range(6):
    id = i + 1
    Arm.Arm_serial_servo_write_offset_switch(id)
    time.sleep(.1)
    state =   Arm.Arm_serial_servo_write_offset_state()
    if state == 1:
        print("id:%d set offset   ok!" % id)
    elif state == 2:
        print("error!id:%d set offset   overrun !" % id)
    elif state == 0:
        print("error!id:%d set offset error !" % id)
# After adjustment is complete, turn on torque
Arm.Arm_serial_set_torque(1)
# Clear all servo neutral position deviation settings, restore default state.
# If you need to clear all servo neutral position deviations, remove the # below and run this cell
#Arm.Arm_serial_servo_write_offset_switch(0)
del Arm  # Release the Arm object
​