Exp9_Info.py

#!/usr/bin/python3 

# 7Bot Robotic Arm Example 9: Robot Information Query (Enhanced with WebSocket Support)

# Date:    July 20th, 2020 (Updated: Dec 2025)
# Author:  Jerry Peng
 
import time 
from lib.Arm7Bot import Arm7Bot


# Communication Protocol Configuration
# =================================
# Choose your preferred communication method:
# 1. Serial Communication (USB Connection)
# 2. WebSocket Communication (WiFi Connection)

# Protocol selection: 'serial' or 'websocket'
PROTOCOL = 'serial'  # Change to 'websocket' for WiFi communication

# Serial Communication Settings
SERIAL_PORT = 'COM11'  # Change according to your system:
                      # "/dev/cu.SLAB_USBtoUART" on Mac OS
                      # "/dev/ttyUSB0" on Linux
                      # 'COM1' or 'COM11' on Windows

# WebSocket Communication Settings
ROBOT_IP = '192.168.4.1'      # Default robot IP address
WEBSOCKET_PORT = 8080         # Default WebSocket port
DEBUG_MODE = False            # Enable debug output

# Initialize robot connection based on protocol
if PROTOCOL == 'serial':
    print(f"Connecting to robot via Serial port: {SERIAL_PORT}")
    arm = Arm7Bot(port=SERIAL_PORT, protocol='serial', debug=DEBUG_MODE)
elif PROTOCOL == 'websocket':
    print(f"Connecting to robot via WebSocket: {ROBOT_IP}:{WEBSOCKET_PORT}")
    arm = Arm7Bot(ip=ROBOT_IP, websocket_port=WEBSOCKET_PORT, protocol='websocket', debug=DEBUG_MODE)
else:
    raise ValueError("Invalid protocol. Choose 'serial' or 'websocket'")

print(f"Successfully connected using {PROTOCOL.upper()} protocol")
print("Retrieving robot information...")

# 先关闭掉自动反馈，避免数据冲突
print("Disabling automatic feedback to avoid data conflicts...")
arm.setAnglesFbFreq(0)
arm.setLoadsFbFreq(0)

time.sleep(0.5)

print("\n=== Robot Information ===")
try:
    print("Device Code: ",  arm.getDeviceCode())
    print("Version: ",      arm.getVersion())
    print("MAC: ",          arm.getMAC())
    print("ID: ",           arm.getID())
    print("Offsets: ",      arm.getOffsets())
    print("Protocol: ",     PROTOCOL.upper())
    
    # Additional system information if available
    if hasattr(arm, 'getSystemInfo'):
        print("\n=== System Info ===")
        system_info = arm.getSystemInfo()
        for key, value in system_info.items():
            print(f"{key}: {value}")
            
except Exception as e:
    print(f"Error retrieving robot information: {e}")

print("\nRobot information query completed!")