로봇팔로 춤춰보기

• 05_04_dance.ipynb

• 셀 실행시키기

  Ctrl + Enter

#!/usr/bin/env python3
#coding=utf-8
import time
from Arm_Lib import Arm_Device


Arm = Arm_Device()
time.sleep(.1)

time_1 = 500
time_2 = 1000
time_sleep = 0.5

• Arm_Lib 모듈 불러오기 및 로봇팔 객체 등록

# 로봇팔 춤 반복
def main():
    # 서보를 중심으로 만든다.
    Arm.Arm_serial_servo_write6(90, 90, 90, 90, 90, 90, 500)
    time.sleep(1)

    while True:
        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-135, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 135, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 120, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-80, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 80, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 80, time_1)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(2, 180-60, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 60, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 60, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 180-45, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 45, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 45, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(2, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(.001)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 20, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 150, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(6, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(1, 0, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 0, time_1)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(3, 180, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 0, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(6, 180, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(6, 0, time_2)
        time.sleep(time_sleep)



        Arm.Arm_serial_servo_write(6, 90, time_2)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(1, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(5, 90, time_1)
        time.sleep(time_sleep)

        Arm.Arm_serial_servo_write(3, 90, time_1)
        time.sleep(.001)
        Arm.Arm_serial_servo_write(4, 90, time_1)
        time.sleep(time_sleep)

        print(" END OF LINE! ")

try :
    main()
except KeyboardInterrupt:
    print(" Program closed! ")
    pass

• Arm_serial_servo_write(모터 번호, 각도, 시간)

• 서보모터 각도 제어와 while문을 이용한 댄스 동작

del Arm  # Remove robot arm object

• 로봇팔 객체 제거