手臂#

初始化 Arm 类 #

使用以下构造函数创建 6 轴臂：

Arm(port)

此构造函数使用一个参数：

范围	描述
`port`	6 轴臂连接到的有效智能端口。

# Construct a 6-Axis Arm "arm" with the
# Arm class.
arm = Arm(Ports.PORT1)

This arm object will be used in all subsequent examples throughout this API documentation when referring to Arm class methods.

类方法 #

move_to()#

The move_to(x, y, z, wait) method moves the End Effector to the requested X, Y, and Z absolute position.

This can be a waiting or non-waiting method depending on if the wait parameter is used.

参数	描述
x	要移动到的 x 坐标（以毫米为单位）。
y	要移动到的 y 坐标（以毫米为单位）。
z	要移动到的 z 坐标（以毫米为单位）。
等待	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait==True`.

Returns: True if the 6-Axis Arm has moved to the requested position when wait is True. False if it did not.

# Move the Arm to (40, 140, 210).
arm.move_to(40, 140, 210)

move_inc()#

The move_inc(x, y, z, wait) method moves the End Effector by the requested X, Y, and Z distances.

This can be a waiting or non-waiting method depending on if the wait parameter is used.

参数	描述
x	x 轴上移动的距离（以毫米为单位）。
y	沿 y 轴移动的距离（以毫米为单位）。
z	z 轴上移动的距离（以毫米为单位）。
等待	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait==True`.

Returns: True if the 6-Axis Arm has moved to the requested position when wait is True. False if it did not.

# Move the Arm +100 millimeters on the y-axis.
arm.move_inc(0, 100, 0)

move_end_effector_to()#

The move_end_effector_to(yaw, roll, pitch, wait) method moves the End Effector to the requested absolute yaw, roll, and pitch orientation.

This can be a waiting or non-waiting method depending on if the wait parameter is used.

参数	描述
偏航	末端执行器应指向的围绕 z 轴的角度（以度为单位）。
卷	末端执行器应指向的围绕 x 轴的角度（以度为单位）。
沥青	末端执行器应指向的 y 轴周围的角度（以度为单位）。
等待	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait==True`.

Returns: True if the End Effector has moved to the requested orientation when wait is True. False if it has not.

# Orient the End Effector to point towards 
# 90 degrees around the x-axis.
arm.move_end_effector_to(0, 90, 0)

move_end_effector_inc()#

The move_end_effector_inc(yaw, roll, pitch, wait) method moves the End Effector to the requested relative yaw, roll, and pitch orientation.

This can be a waiting or non-waiting method depending on if the wait parameter is used.

参数	描述
偏航	末端执行器围绕 z 轴应改变的角度（以度为单位）。
卷	末端执行器围绕 x 轴应改变的角度（以度为单位）。
沥青	末端执行器围绕 y 轴应改变的角度（以度为单位）。
等待	Optional. The wait parameter determines whether the method will block subsequent method (`wait=True`) or allow immediate execution (`wait=False`). If unspecified, the default for the `wait` parameter is `wait==True`.

Returns: True if the End Effector has moved to the requested orientation when wait is True. False if it has not.

# Orient the End Effector -50 degrees on the y-axis.
arm.move_end_effector_inc(0, 0, -50)

set_speed()#

The set_speed(speed) method sets the speed for moves.

参数	描述
速度	6 轴臂移动的速度。

**返回：**无。

set_end_effector_type()#

The set_end_effector_type(type) method sets the End Effector type to magnet or pen.

参数	描述
类型	有效的 EndEffectorType。

Returns: True if the requested type was set. False if it was not.

# Set the End Effector type to the Magnet Pickup Tool.
arm.set_end_effector_type(MAGNET)

set_end_effector_magnet()#

The set_end_effector_magnet(state) method sets the End Effector’s Magnet Pickup Tool to enabled or disabled.

参数	描述
状态	`True` to enable the Magnet Pickup Tool. `False` to disable it.

**返回：**无。

# Enable the Magnet Pickup Tool.
arm.set_end_effector_magnet(True)

set_pen_offset()#

The set_pen_offset(zOffset) method sets the pen End Effector z-axis offset.

参数	描述
z偏移	The new offset in `MM`. A positive z value indicates up.

**返回：**无。

set_control_stop()#

The set_control_stop(state) method disables the Arm and places the joint motors in brake mode.

如果启用了控制停止，则除非重新启动整个项目，否则将无法禁用它。

参数	描述
状态	`True` to disable further linear or joint moves.

**返回：**无。

control_stopped()#

The control_stopped(callback, arg) method registers a function to be called when the 6-Axis Arm control stop is enabled.

参数	描述
打回来	当 6 轴臂控制停止时调用的函数
arg	可选。用于向回调函数传递参数的元组

**返回：**事件类的一个实例。

# Define a function when_control_stopped
def when_control_stopped():
    # Print to the Brain's screen that the Arm has been
    # control stopped.
    brain.screen.print("The arm has been control stopped")

# Run when_control_stopped when the Arm is control stopped.
arm.control_stopped(when_control_stopped)

can_arm_reach_to()#

The can_arm_reach_to(x, y, z) method checks if the End Effector can move to the requested X, Y, and Z absolute position.

参数	描述
x	要移动到的 x 坐标（以毫米为单位）。
y	要移动到的 y 坐标（以毫米为单位）。
z	要移动到的 z 坐标（以毫米为单位）。

Returns: True if the Arm can move to the requested position. False if it cannot.

# Check if the Arm can move to the (100, -20, 50).
if arm.can_arm_reach_to(100, -20, 50):
    # Move the Arm to (100, -20, 50).
    arm.move_to(100, -20, 50)

can_arm_reach_inc()#

The can_arm_reach_inc(x, y, z) method checks if the End Effector can move to the requested X, Y, and Z relative position.

参数	描述
x	x 轴上移动的距离（以毫米为单位）。
y	沿 y 轴移动的距离（以毫米为单位）。
z	z 轴上移动的距离（以毫米为单位）。

Returns: True if the Arm can move to the requested position. False if it cannot.

# Check if the Arm can increment its position 
# +100 mm along the x-axis.
if arm.can_arm_reach_inc(100, 0, 0):
    # Increment the Arm +100 mm along the x-axis.
    arm.move_inc(100, 0, 0)

can_end_effector_reach_to()#

The can_end_effector_reach_to(yaw, roll, pitch) method checks if the End Effector can move to the requested absolute yaw, roll, and pitch orientation.

参数	描述
偏航	末端执行器应指向的围绕 z 轴的角度（以度为单位）。
卷	末端执行器应指向的围绕 x 轴的角度（以度为单位）。
沥青	末端执行器应指向的 y 轴周围的角度（以度为单位）。

Returns: True if the End Effector can move to the requested orientation. False if it cannot.

# Check If the arm can orient to 90 degrees on the x-axis.
if arm.can_end_effector_reach_to(0, 90, 0):
    # Orient towards 90 degrees on the x-axis.
    arm.move_end_effector_to(0, 90, 0)

can_end_effector_reach_inc()#

The can_end_effector_reach_inc(yaw, roll, pitch) method checks if the End Effector can move to the requested relative yaw, roll, and pitch orientation.

参数	描述
偏航	末端执行器围绕 z 轴应改变的角度（以度为单位）。
卷	末端执行器围绕 x 轴应改变的角度（以度为单位）。
沥青	末端执行器围绕 y 轴应改变的角度（以度为单位）。

Returns: True if the End Effector can move to the requested orientation. False if it cannot.

# Check if the End Effector can increment its orientation
# +10 degrees on the y-axis.
if arm.can_end_effector_reach_inc(0, 0, 10):
    # Increment the End Effector by +10 degrees on the y-axis.
    arm.move_end_effector_inc(0, 0, 10)

is_done()#

The is_done() method is used to check if the 6-Axis Arm is currently moving or not.

Returns: True if the 6-Axis Arm is currently performing a movement. False if it is not.

def main():
    # Move the Arm to (-100, 200, 100) and let subsequent 
    # methods execute.
    arm.move_to(-100, 200, 100, False)
    # Repeat the methods until the Arm is done moving.
    while not arm.is_done():
        # Print the Arm's current y position to the Brain's
        # screen every .25 seconds.
        brain.print(arm.get_y())
        brain.next_row()
        wait(0.25, SECONDS)

get_x()#

The get_x() method returns the x position of the End Effector.

Returns: The x position of the End Effector in MM.

def main():
    # Print the current x position of the Arm in millimeters.
    brain.print(arm.get_x())

get_y()#

The get_y() method returns the y position of the End Effector.

Returns: The y position of the End Effector in MM.

def main():
    # Print the current y position of the Arm in millimeters.
    brain.print(arm.get_y())

get_z()#

The get_z() method requests the z position of the End Effector.

Returns: The z position of the End Effector in MM.

def main():
    # Print the current z position of the Arm in millimeters.
    brain.print(arm.get_z())

get_pitch()#

The get_pitch() method requests the current pitch of the End Effector.

**返回：**末端执行器的当前倾斜度（以度为单位）。

def main():
    # Print the current pitch of the Arm in degrees.
    brain.print(arm.get_pitch())

get_roll()#

The get_roll() method requests the current roll of the End Effector.

**返回：**末端执行器当前的滚动角度（以度为单位）。

def main():
    # Print the current roll of the Arm in degrees.
    brain.print(arm.get_roll())

get_yaw()#

The get_yaw() method requests the current yaw of the End Effector.

**返回：**末端执行器当前的偏航角（以度为单位）。

def main():
    # Print the current yaw of the Arm in degrees.
    brain.print(arm.get_yaw())

set_timeout()#

The set_timeout(timeout, units) method sets the timeout value used when moving the 6-Axis Arm.

参数	描述
暂停	新的超时值。
单位	A valid TimeUnits type. The default unit is `MSEC`.

**返回：**无。

get_timeout()#

The get_timeout() method gets the current timeout value used by the 6-Axis Arm move methods.

**返回：**以毫秒为单位的超时值。

# Get the current timeout value of the 6-Axis Arm.
value = arm.get_timeout()

is_connected()#

The is_connected() method checks if the CTE Arm is connected. This is a compatibility function that returns the same as the installed() function.

这是一种非等待方法，允许下一个方法无延迟运行。

Returns: True if the Arm is connected to the brain on the associated smartport. False if it is not.

installed()#

The installed() method checks for device connection.

这是一种非等待方法，允许下一个方法无延迟运行。

Returns: True if the device is connected. False if it is not.

timestamp()#

The timestamp() method returns the timestamp of the last received status packet from the Arm.

这是一种非等待方法，允许下一个方法无延迟运行。

**返回：**从 Arm 接收的最后一个状态包的时间戳（以毫秒为单位）。