28 lines
844 B
Python
28 lines
844 B
Python
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import time
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from hopejr import HopeJuniorRobot
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def main():
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# Instantiate and connect to the robot
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robot = HopeJuniorRobot()
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robot.connect()
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# Example read of the current position
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print("Present Position:", robot.arm_bus.read("Present_Position"))
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# Enable torque and set acceleration
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robot.arm_bus.write("Torque_Enable", 1)
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robot.arm_bus.write("Acceleration", 20)
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print("Acceleration Read:", robot.arm_bus.read("Acceleration"))
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# Move elbow_flex and wrist_yaw a few times
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robot.arm_bus.write("Goal_Position", [1000, 1000], ["elbow_flex", "wrist_yaw"])
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time.sleep(2)
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robot.arm_bus.write("Goal_Position", [1500, 1500], ["elbow_flex", "wrist_yaw"])
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time.sleep(2)
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robot.arm_bus.write("Goal_Position", [1000, 1000], ["elbow_flex", "wrist_yaw"])
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if __name__ == "__main__":
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main()
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