Mech

Mech include mech Integrative Action in Morphology

By calling these modules, you can easily control the manipulator to catch the ball and so on.

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Initialization

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Introduction

Initialize the MoonMech manipulator port.

Parameters
MU adress

  • MU00 ：MU address 0x60

  • MU01 ：MU address 0x61

  • MU10 ：MU address 0x62

  • MU11 ：MU address 0x63

MU Port

  • 2,7,9

Mech claw Steering engine port

  • 1~4

Upper arm Steering engine port

  • 1~4

Lower arm Steering engine port

  • 1~4

Setting the position of catch ball

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Introduction

Setting up the position of the MoonMech manipulator to grasp the ball,The mechanical gripper can catch the ball by adjusting the X-Y value of the recognition ball.

When the ball is within the given X-Y value range, the mechanical claw closes to grasp the ball.

Parameters
X

  • 0~100 :Horizontal position of mechanical claw grip ball，The horizontal position of the mechanical claw relative to the ball can be adjusted by modifying this value.

Y

  • 0~100 :Vertical position of mechanical claw catching ball,The vertical height of the gripper can be adjusted by modifying this value.

Setting Shooting Conditions

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Introduction

Setting up the conditions of MoonMech mechanical claw shooting，The horizontal position X and width of the card can be adjusted to allow the manipulator to shoot accurately into the basket.

When the card within the given X-width range, the arm triggers the shooting action to shoot.

Parameters
X

  • 0~100 ：Horizontal position relative to transverse coordinate X of card when shooting with mechanical claw，The horizontal position of the gripper relative to the card can be adjusted by modifying this value.

Width

  • 0~100 ：The size of the card when the mechanical claw shoots,The distance between MoonMECH mechanical arm and basket (card) can be adjusted by modifying this value.

Claw movement

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Introduction

Set up mechanical claw action. This module can be used to control the horizontal or up-down translation of the mechanical claw.

Parameters
action

  • open ：Open the mechanical claw（110°）

  • close ：Close the mechanical claw（90°）

  • forward ：The mechanical claw advances horizontally in a unit.

  • back ：The mechanical claw retreats one unit horizontally

  • up The mechanical claw is vertically upward in a unit.

  • down ：A vertical downward unit of a mechanical claw.

Find the ball

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Introduction

Control MoonMech manipulator to perform ball searching.

Return

  • true :Find the ball

  • false:No ball was found.

Catch the ball

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Introduction

Control MoonMech manipulator to perform catch action.

If the ball manipulator is not found during execution of this block, MoonMech will remain in place and return false。

Return

  • true :Catch the ball

  • false:No ball was found.

Find the card

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Introduction

The MoonMech manipulator is controlled to perform the search basket (card) action.

Parameters
card type

  • shape card

  • traffic card

  • number card

Return

  • true :Find the given card

  • false:No given card was found

Shoot

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Introduction

Control MoonMech manipulator to execute shooting action.

If the ball manipulator is not found during execution of this block, MoonMech will remain in place.