From 29fc84a7a01dcb320793ed46de121b17805bf8c0 Mon Sep 17 00:00:00 2001 From: DzC-0i <11778119+DzC-0i@user.noreply.gitee.com> Date: Wed, 27 Nov 2024 17:29:15 +0800 Subject: [PATCH 1/2] =?UTF-8?q?Update=20v1.0.9.1=20=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E8=BD=A8=E8=BF=B9=E8=BF=90=E5=8A=A8=E9=83=A8=E5=88=86=EF=BC=8C?= =?UTF-8?q?=E5=9C=A8=E5=88=B0=E4=BD=8D=E7=B2=BE=E5=BA=A6=E5=86=85=E5=85=B3?= =?UTF-8?q?=E8=8A=82=E4=B8=8D=E8=BF=90=E5=8A=A8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Controller/driver/motors/dmbots/motor.py | 2 ++ README.md | 3 +++ 2 files changed, 5 insertions(+) diff --git a/Controller/driver/motors/dmbots/motor.py b/Controller/driver/motors/dmbots/motor.py index 7e228fd..52f6c2f 100644 --- a/Controller/driver/motors/dmbots/motor.py +++ b/Controller/driver/motors/dmbots/motor.py @@ -319,6 +319,8 @@ class Sync(threading.Thread): :return: """ + if math.fabs(self.__position - position) < self.__motion_complete_limit: + return ids = [self.__motor.axis_id] jmove = Trajectory("joints") jmove.load({"joint_ids": ids}) diff --git a/README.md b/README.md index 5636eca..dfe7931 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,9 @@ Coarm机械臂底层运动控制库 ## 更新说明 +### Update v1.0.9 +1. 修改轨迹运动部分，在到位精度内关节不运动 + ### Update v1.0.8 1. 更改实物关节转动方向 2. 修改COARM为小写，方便ROS结合 -- Gitee From e2e51767aebb2cc04202b51c88ab499ed9fed81d Mon Sep 17 00:00:00 2001 From: DzC-0i <11778119+DzC-0i@user.noreply.gitee.com> Date: Wed, 27 Nov 2024 17:30:26 +0800 Subject: [PATCH 2/2] =?UTF-8?q?Update=20v1.0.9.2=20=E5=A2=9E=E5=8A=A0?= =?UTF-8?q?=E8=BF=90=E5=8A=A8=E5=AE=8C=E6=88=90=E6=97=B6=E9=97=B4=E6=AF=94?= =?UTF-8?q?=E7=8E=87?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Controller/config/components/devices/coarm/coarm-M1 | 2 +- Controller/config/components/devices/coarm/coarm-M2 | 2 +- Controller/config/components/devices/coarm/coarm-M3 | 2 +- Controller/config/components/devices/coarm/coarm-M4 | 2 +- Controller/config/components/devices/coarm/coarm-M5 | 2 +- Controller/config/components/devices/coarm/coarm-M6 | 2 +- README.md | 1 + 7 files changed, 7 insertions(+), 6 deletions(-) diff --git a/Controller/config/components/devices/coarm/coarm-M1 b/Controller/config/components/devices/coarm/coarm-M1 index 38c5869..a5e4ebc 100644 --- a/Controller/config/components/devices/coarm/coarm-M1 +++ b/Controller/config/components/devices/coarm/coarm-M1 @@ -15,7 +15,7 @@ kinematics_offset = 0.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = 1 diff --git a/Controller/config/components/devices/coarm/coarm-M2 b/Controller/config/components/devices/coarm/coarm-M2 index 9b4ad80..626f32d 100644 --- a/Controller/config/components/devices/coarm/coarm-M2 +++ b/Controller/config/components/devices/coarm/coarm-M2 @@ -15,7 +15,7 @@ kinematics_offset = -90.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = 1 diff --git a/Controller/config/components/devices/coarm/coarm-M3 b/Controller/config/components/devices/coarm/coarm-M3 index abf550a..fa28f45 100644 --- a/Controller/config/components/devices/coarm/coarm-M3 +++ b/Controller/config/components/devices/coarm/coarm-M3 @@ -15,7 +15,7 @@ kinematics_offset = 0.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = -1 diff --git a/Controller/config/components/devices/coarm/coarm-M4 b/Controller/config/components/devices/coarm/coarm-M4 index eb01eb0..13129d7 100644 --- a/Controller/config/components/devices/coarm/coarm-M4 +++ b/Controller/config/components/devices/coarm/coarm-M4 @@ -15,7 +15,7 @@ kinematics_offset = -90.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = 1 diff --git a/Controller/config/components/devices/coarm/coarm-M5 b/Controller/config/components/devices/coarm/coarm-M5 index f828871..2e74565 100644 --- a/Controller/config/components/devices/coarm/coarm-M5 +++ b/Controller/config/components/devices/coarm/coarm-M5 @@ -15,7 +15,7 @@ kinematics_offset = 0.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = 1 diff --git a/Controller/config/components/devices/coarm/coarm-M6 b/Controller/config/components/devices/coarm/coarm-M6 index 218d622..f5d416a 100644 --- a/Controller/config/components/devices/coarm/coarm-M6 +++ b/Controller/config/components/devices/coarm/coarm-M6 @@ -15,7 +15,7 @@ kinematics_offset = 0.0 # Unit rad, for judge motion complete status motion_complete_limit = 0.02 -motion_complete_ratio = 1.5 +motion_complete_ratio = 2 control_error_time = 3 mounting_direction = 1 diff --git a/README.md b/README.md index dfe7931..e3f2607 100644 --- a/README.md +++ b/README.md @@ -14,6 +14,7 @@ Coarm机械臂底层运动控制库 ### Update v1.0.9 1. 修改轨迹运动部分，在到位精度内关节不运动 +2. 增加运动完成时间比率 ### Update v1.0.8 1. 更改实物关节转动方向 -- Gitee