电流读取

from linkerbot import L6

读取 L6 灵巧手六个关节电机的实时电流数据（单位：mA）。

概述

通过 hand.current 访问电流读取功能，支持三种模式：

读取电流

阻塞读取

发送请求并等待响应：

data = hand.current.get_blocking(timeout_ms=500)

# 访问各手指电流 (单位：mA)
print(data.currents.thumb_flex)  # 拇指弯曲
print(data.currents.thumb_abd)  # 拇指侧摆
print(data.currents.index)  # 食指
print(data.currents.middle)  # 中指
print(data.currents.ring)  # 无名指
print(data.currents.pinky)  # 小指

# 索引访问
print(data.currents[0])  # thumb_flex

参数:

• timeout_ms: 超时时间 (毫秒)，默认 100

异常:

• TimeoutError: 超时未收到响应

缓存读取

获取最近一次缓存的数据，不发送请求：

data = hand.current.get_snapshot()
if data:
    print(f"电流：{data.currents.to_list()}")

流式读取

通过顶层 hand.stream() 统一接收所有传感器事件：

from linkerbot.hand.l6 import SensorSource, CurrentEvent

hand.start_polling({SensorSource.CURRENT: 0.05})

for event in hand.stream():
    match event:
        case CurrentEvent(data=data):
            print(f"电流：{data.currents.to_list()}")

hand.stop_polling()
hand.stop_stream()

示例

检测过载电流

from linkerbot import L6
from linkerbot.hand.l6 import SensorSource, CurrentEvent

with L6(side="left", interface_name="can0") as hand:
    hand.start_polling({SensorSource.CURRENT: 0.05})

    try:
        for event in hand.stream():
            match event:
                case CurrentEvent(data=data):
                    for i, current in enumerate(data.currents.to_list()):
                        if current > 1000:
                            print(f"警告：关节 {i} 电流过高 ({current} mA)")
    finally:
        hand.stop_polling()
        hand.stop_stream()

记录电流数据

import time
from linkerbot import L6
from linkerbot.hand.l6 import SensorSource, CurrentEvent

with L6(side="left", interface_name="can0") as hand:
    records = []
    start = time.time()
    hand.start_polling({SensorSource.CURRENT: 0.1})

    try:
        for event in hand.stream():
            match event:
                case CurrentEvent(data=data):
                    records.append(
                        {
                            "time": data.timestamp - start,
                            "currents": data.currents.to_list(),
                        }
                    )
            if time.time() - start > 5:  # 记录 5 秒
                break
    finally:
        hand.stop_polling()
        hand.stop_stream()

    print(f"采集 {len(records)} 条数据")