瀹夎椹卞姩
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Dobot 鏈烘鑷傞┍鍔ㄦ枃浠跺垪琛�
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-- Master
- global.lua (鏈烘鑷備富鎺у姛鑳芥帴鍙ｅ簱)
- test_src0.lua
- xyz_CartMove_Basic.lua (鍧愭爣杩愬姩鍩虹搴旂敤妯℃澘)
- xyz_CartMove_Reposition.lua (鍧愭爣杩愬姩浜屾瀹氫綅搴旂敤妯℃澘)
- xyz_TrajMove_ASync.lua (杞ㄨ抗绉诲姩寮傛妯℃澘)
- xyz_TrajMove_Sync.lua (杞ㄨ抗绉诲姩鍚屾妯℃澘)
-- Motion
- motion_src0.lua (宸ユ帶鏈轰富鎺ц繍鍔ㄦ帶鍒剁▼搴�)
- status_src0.lua (宸ユ帶鏈轰富鎺ф満姊拌噦鐘舵€佸彂閫佺▼搴�)
璁惧畾鏈烘鑷� IP
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DobotStudio Pro 鏄秺鐤嗛拡瀵� Dobot 鏈哄櫒浜哄紑鍙戠殑鎺у埗杞欢锛岃蒋浠舵敮鎸� Windows 鍜� Android 鎿嶄綔绯荤粺锛屼娇鐢� DobotStudio Pro
鎿嶄綔鎺у埗 Dobot 鏈哄櫒浜洪潪甯告柟渚垮揩鎹枫€�
- 瀹夎 DobotStudio Pro
1. 涓嬭浇 DobotStudio Pro 瀹夎鍖�
鍙互浠� Dobot 瀹樼綉鐨勪笅杞戒腑蹇�(https://www.dobot.cn/service/download-center)涓嬭浇鏈€鏂扮殑 DobotStudio Pro 瀹夎鍖呫€�
DobotStudio Pro 鏄厤璐圭殑锛屽彧闇€瑕佹敞鍐屼竴涓� Dobot 璐﹀彿渚垮彲浠ヤ笅杞斤紝涓嬭浇涓績涔熸湁 DobotStudio Pro 鐢ㄦ埛浣跨敤鎵嬪唽锛屼互鍙婂叾浠栨墜鍐岋紝
鍙互鏍规嵁闇€姹備笅杞姐€�
2. 鍙屽嚮鎵撳紑瀹夎鍖呭悗锛岄€夋嫨瀹夎璇█锛屽苟鍗曞嚮涓嬩竴姝ャ€�
.. figure:: img/dobot_install_1.png
:width: 400px
:align: center
3. 鍦ㄥ畨瑁呯晫闈腑鍗曞嚮涓€閿畨瑁咃紝鎴栧湪鑷畾涔夐€夐」涓缃畨瑁呰矾寰勫悗寮€濮嬪畨瑁呫€�
.. figure:: img/dobot_install_2.png
:width: 400px
:align: center
4. 杞欢瀹夎鎴愬姛鍚庡湪鎻愮ず鐣岄潰鍗曞嚮绔嬪嵆浣撻獙鍙互鐩存帴鎵撳紑杞欢銆�
.. figure:: img/dobot_install_3.png
:width: 400px
:align: center
- 杩炴帴 Dobot 鏈哄櫒浜哄苟淇敼鏈哄櫒浜篒P鍦板潃
Dobot 鎺у埗鏌滃紑鏈鸿繃绋嬫満姊拌噦浜旇酱涓婄殑钃濊壊鐏細涓€鐩撮棯鐑侊紝琛ㄧず鎺у埗鏌滃唴缃� WiFi 璺敱鍣ㄥ湪鍒濆鍖栦腑锛孡AN 銆�
WiFi 銆佺ず鏁欏櫒鍧囨棤娉曡繛鎺ユ満鍣ㄤ汉銆傜瓑寰呰摑鑹茬伅鍙樺父浜椂锛岃〃绀哄垵濮嬪寲瀹屾垚銆侱obot 鏈哄櫒浜烘帶鍒跺櫒鏀寔閫氳繃 wifi 鍜屾湁绾胯繛鎺ワ紝
杩欓噷鎴戜滑鍙鏄庨€氳繃鏈夌嚎杩炴帴鐨勬柟寮忥紝鏃犵嚎杩炴帴鍙互鏌ラ槄 DobotStudio Pro 鐢ㄦ埛浣跨敤鎵嬪唽銆�
1. 璇峰皢缃戠嚎涓€绔繛鎺ヨ嚦鎺у埗鏌滅殑 LAN 缃戝彛锛屽彟涓€绔繛鎺ヨ嚦 PC 鎴栬€呬氦鎹㈡満锛岀劧鍚庝慨鏀� PC 鐨� IP 鍦板潃锛屼娇鍏朵笌鎺у埗鏌滅殑 IP 鍦板潃鍦ㄥ悓涓€缃戞銆�
鎺у埗鏌滀笂 LAN1 缃戝彛鐨勯粯璁� IP 涓�192.168.5.1锛� LAN2 缃戝彛鐨勯粯璁P涓�192.168.200.1銆� LAN1 缃戝彛鐨� IP 鍦板潃鍙湪閫氳璁剧疆涓慨鏀癸紝 LAN2 缃戝彛鐨� IP 鍦板潃涓嶅彲淇敼銆�
2. 绛夊緟鏈哄櫒浜哄垵濮嬪寲瀹屾垚鍚庯紝鎵撳紑 DobotStudio Pro 锛� DobotStudio Pro 鍚姩鍚庝細鑷姩鎼滅储鍚岀綉娈电殑鏈哄櫒浜恒€�
.. figure:: img/dobot_connect_1.png
:width: 400px
:align: center
3. 绛夊緟鎼滅储鍒版満鍣ㄤ汉鍚庯紝閫夋嫨瑕佽繛鎺ョ殑鏈哄櫒浜猴紝鐒跺悗鐐瑰嚮 ``杩炴帴`` 銆�
.. figure:: img/dobot_connect_2.png
:width: 400px
:align: center
4. 杩炴帴鍒版満鍣ㄤ汉鍚庝細鍙充晶鐣岄潰浼氳嚜鍔ㄥ脊鍑烘帶鍒剁晫闈紝鍙互鐐瑰嚮鍙充晶杈规爮鐨� ``鎺у埗`` 鏀跺洖鎺у埗鐣岄潰锛岀劧鍚庣偣鍑讳富鐣岄潰涓婄殑 ``鑿滃崟`` -> ``璁剧疆`` 寮瑰嚭璁剧疆鐣岄潰銆�
.. figure:: img/dobot_connect_4.png
:width: 400px
:align: center
5. 鐐瑰嚮 ``閫氳璁剧疆`` 鐒跺悗淇敼 IP 鍦板潃鍜屽瓙缃戞帺鐮侊紝淇敼瀹屾垚鍚庣偣鍑� ``搴旂敤`` 銆傜劧鍚庡叧闂� DobotStudio Pro 锛岄噸鍚満鍣ㄤ汉鎺у埗鍣ㄤ究鍙互瀹屾垚璁剧疆銆�
.. figure:: img/dobot_connect_5.png
:width: 500px
:align: center
- 鈥淚P鍦板潃鈥濊缃负锛�192.168.37.100
- 鈥滃瓙缃戞帺鐮佲€濊缃负锛�255.255.255.0
閲嶅惎鎺у埗鍣ㄥ悗濡傛灉鎯宠鍦ㄨ繛鎺ユ満鍣ㄤ汉锛岄渶瑕佽缃數鑴戠殑 IP 鍦板潃鍜屾満鍣ㄤ汉鍦ㄥ悓涓€缃戞銆�
瀵煎叆宸ョ▼
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鍦ㄨ秺鐤嗙殑鑴氭湰缂栫▼涓紝鑴氭湰鏂囦欢鐨勫悕瀛楁槸鏃犳硶琚慨鏀癸紝骞朵笖鍦ㄨ繍琛岀▼搴忔椂濡傛灉鑴氭湰涓湁闇€瑕佹墽琛岀殑浠ｇ爜锛岄偅涔堣剼鏈▼搴忓皢鍗曠嫭鍦ㄤ竴涓嚎绋嬩腑鍚姩杩愯銆�
涓轰簡鏇村ソ鐨勫尯鍒嗗伐鎺ф満涓绘帶绋嬪簭鍜屾満姊拌噦涓绘帶绋嬪簭锛屽悓鏃跺張涓嶄娇鑴氭湰鏂囦欢杩囦簬搴炲ぇ锛屾垜浠渶瑕佸厛鍒涘缓涓や釜 DobotStudio Pro 宸ョ▼锛屽垎鍒椂宸ユ帶鏈轰富鎺у伐绋�
鍜屾満姊拌噦涓绘帶宸ョ▼銆�
- 宸ユ帶鏈轰富鎺у伐绋�
1. 鎵撳紑 DobotStudio Pro 骞跺拰鏈哄櫒浜鸿繛鎺ユ垚鍔熷悗锛岀偣鍑讳富鐣岄潰涓婄殑 ``鑴氭湰缂栫▼`` 鍥炬爣锛岀劧鍚庣晫闈細璺宠浆鍒拌剼鏈紪绋嬬晫闈€€�
.. figure:: img/dobot_motion_1.png
:width: 500px
:align: center
2. 鐐瑰嚮 ``鏂囦欢`` -> ``鏂板缓`` 锛岄€夋嫨 ``绌虹櫧宸ョ▼`` 骞剁偣鍑� ``纭畾`` 銆�
.. figure:: img/dobot_motion_2.png
:width: 400px
:align: center
3. 缂栬緫鐣岄潰閫変腑 ``src0.lua``锛屽苟鍒犳帀閲岄潰宸叉湁鐨勫唴瀹广€�
4. 閫氳繃鏂囨湰缂栬緫宸ュ叿鎵撳紑 Dobot 椹卞姩鏂囦欢涓殑 motion_src0.lua 锛屽苟鎷疯礉鍏朵腑鎵€鏈夊唴瀹癸紝澶嶅埗鍒� ``src0.lua`` 涓€�
.. figure:: img/dobot_motion_3.png
:width: 400px
:align: center
澶嶅埗 motion_src0.lua 閲屼唬鐮佺殑鏃跺€欙紝鍙互鍏堥€氳繃蹇嵎閿�(ctrl+A)鍏ㄩ€夋墍鏈夌殑浠ｇ爜锛岀劧鍚庡啀澶嶅埗(ctrl+C)锛岃繖鏍峰彲浠ヤ繚璇佹墍鏈夌殑浠ｇ爜娌℃湁琚仐婕忋€�
**motion_src0.lua 浠ｇ爜涓殑 C_MOTION_SERVER_IP 鍜� C_MOTION_PORT 琛ㄧず鐨勬槸宸ユ帶鏈虹殑 IP 鍦板潃鍜岀鍙ｅ彿锛屽鏋滃伐鎺ф満 IP 鍦板潃鎴栬€呯鍙ｅ彉鏇磋淇敼 C_MOTION_SERVER_IP 鍜� C_MOTION_PORT**
5. 鐐瑰嚮缂栬緫鐣岄潰涓婄殑 ``+`` 鎸夐挳鏂板涓€涓剼鏈紝鏂板鐨勮剼鏈細鑷姩鍛藉悕涓� ``src1.lua`` 锛岄€変腑 ``src1.lua`` 锛屽苟鍒犳帀閲岄潰鐨勫凡鏈夊唴瀹广€�
.. figure:: img/dobot_motion_4.png
:width: 400px
:align: center
6. 閫氳繃鏂囨湰缂栬緫宸ュ叿鎵撳紑 Dobot 椹卞姩鏂囦欢涓殑 status_src0.lua 锛屽苟鎷疯礉鍏朵腑鎵€鏈夌殑鍐呭锛屽苟澶嶅埗鍒� ``src1.lua`` 涓€�
.. figure:: img/dobot_motion_5.png
:width: 400px
:align: center
澶嶅埗 status_src0.lua 閲屼唬鐮佺殑鏃跺€欙紝鍙互鍏堥€氳繃蹇嵎閿�(ctrl+A)鍏ㄩ€夋墍鏈夌殑浠ｇ爜锛岀劧鍚庡啀澶嶅埗(ctrl+C)锛岃繖鏍峰彲浠ヤ繚璇佹墍鏈夌殑浠ｇ爜娌℃湁琚仐婕忋€�
**status_src0.lua 浠ｇ爜涓� C_STATUS_SERVER_IP 鍜� C_STATUS_PORT 琛ㄧず鏈烘鑷傜殑 IP 鍦板潃鍜岀鍙ｅ彿锛屽鏋滄満姊拌噦 IP 鍦板潃鎴栬€呯鍙ｅ彿鍙樻洿璇蜂慨鏀� C_STATUS_SERVER_IP 鍜� C_STATUS_PORT**
7. 鐐瑰嚮 ``淇濆瓨`` 锛屽湪寮瑰嚭鐨勫璇濇涓緭鍏ュ伐绋嬪悕 鈥渪yz_motion鈥� 锛岀劧鍚庣偣鍑� ``纭畾`` 淇濆瓨宸ョ▼銆�
.. figure:: img/dobot_motion_6.png
:width: 450px
:align: center
鑷虫宸ユ帶鏈轰富鎺х殑宸ョ▼渚垮垱寤哄畬鎴愬苟淇濆瓨鍒颁簡 dobot 鎺у埗鍣ㄤ腑銆�
- 鏈烘鑷備富鎺у伐绋�
1. 鎵撳紑 DobotStudio Pro 骞跺拰鏈哄櫒浜鸿繛鎺ユ垚鍔熷悗锛岀偣鍑讳富鐣岄潰涓婄殑 ``鑴氭湰缂栫▼`` 鍥炬爣锛岀劧鍚庣晫闈細璺宠浆鍒拌剼鏈紪绋嬬晫闈€€�
濡傛灉姝ゆ椂鏄垰鍒涘缓瀹屽伐鎺ф満涓绘帶宸ョ▼锛屽彲浠ョ洿鎺ヨ烦杞埌绗簩姝ャ€�
.. figure:: img/dobot_motion_1.png
:width: 500px
:align: center
2. 鐐瑰嚮 ``鏂囦欢`` -> ``鏂板缓`` 锛岄€夋嫨 ``绌虹櫧宸ョ▼`` 骞剁偣鍑� ``纭畾`` 銆�
.. figure:: img/dobot_motion_2.png
:width: 400px
:align: center
3. 缂栬緫鐣岄潰閫変腑 ``global.lua``锛屽苟鍒犳帀閲岄潰宸叉湁鐨勫唴瀹广€�
4. 閫氳繃鏂囨湰缂栬緫宸ュ叿鎵撳紑 Dobot 椹卞姩鏂囦欢涓殑 global.lua 锛屽苟鎷疯礉鍏朵腑鎵€鏈夌殑鍐呭锛屽苟澶嶅埗鍒� ``global.lua`` 涓€�
.. figure:: img/dobot_master_1.png
:width: 400px
:align: center
澶嶅埗 global.lua 閲屼唬鐮佺殑鏃跺€欙紝鍙互鍏堥€氳繃蹇嵎閿�(ctrl+A)鍏ㄩ€夋墍鏈夌殑浠ｇ爜锛岀劧鍚庡啀澶嶅埗(ctrl+C)锛岃繖鏍峰彲浠ヤ繚璇佹墍鏈夌殑浠ｇ爜娌℃湁琚仐婕�
5. 缂栬緫鐣岄潰閫変腑 ``src0.lua``锛屽苟鍒犳帀閲岄潰宸叉湁鐨勫唴瀹广€�
6. 鏍规嵁椤圭洰闇€姹傞€氳繃鏂囨湰缂栬緫宸ュ叿鎵撳紑 dobot 绋嬪簭鏂囦欢澶逛笅鐨勬ā鏉跨▼搴忥紝骞舵嫹璐濆叾涓殑鎵€鏈夊唴瀹癸紝骞跺鍒跺埌 ``src1.lua`` 涓€傝繖閲屼互鍧愭爣杩愬姩鍩虹搴旂敤妯℃澘(xyz_CartMove_Basic.lua)涓轰緥
.. figure:: img/dobot_master_2.png
:width: 400px
:align: center
7. 鐐瑰嚮 ``淇濆瓨`` 锛屽湪寮瑰嚭鐨勫璇濇涓緭鍏ュ伐绋嬪悕 鈥渪yz_master鈥� 锛岀劧鍚庣偣鍑� ``纭畾`` 淇濆瓨宸ョ▼銆�
.. figure:: img/dobot_master_3.png
:width: 450px
:align: center
鑷虫鏈烘鑷備富鎺х殑宸ョ▼渚垮垱寤哄畬鎴愬苟淇濆瓨鍒颁簡 dobot 鎺у埗鍣ㄤ腑銆�