def main(settings):
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port=settings['port'],
baudrate=settings['baudRate'],
timeout=1)
# Instantiate our network object
net = dynamixel.DynamixelNetwork(serial)
# Populate our network with dynamixel objects
for servoId in settings['servoIds']:
newDynamixel = dynamixel.Dynamixel(servoId, net)
net._dynamixel_map[servoId] = newDynamixel
if not net.get_dynamixels():
print 'No Dynamixels Found!'
sys.exit(0)
else:
print "...Done"
# Prompt the user to move servos.
answer = int(raw_input("Input an integer between 0 and 1024: "))
if (0 < answer < 1024):
# Set up the servos
for actuator in net.get_dynamixels():
actuator.moving_speed = 500
actuator.torque_enable = True
actuator.torque_limit = 800
actuator.max_torque = 800
actuator.goal_position = answer
# Send all the commands to the servos.
net.synchronize()
def __init__(self, port='/dev/ttyUSB1'):
self.baudrate = 1000000
self.port = port
self.maxID = 18
self.actuators = [None] * (self.maxID + 1)
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
self.serial = dynamixel.SerialStream(port=self.port,
baudrate=self.baudrate,
timeout=1)
# Instantiate our network object
self.net = dynamixel.DynamixelNetwork(self.serial)
# Populate our network with dynamixel objects
for servoId in xrange(1, self.maxID + 1):
newDynamixel = dynamixel.Dynamixel(servoId, self.net)
self.net._dynamixel_map[servoId] = newDynamixel
self.actuators[servoId] = newDynamixel
# Verify Initialization
if not self.net.get_dynamixels():
print 'No Dynamixels Found!'
# TODO: Throw exception instead
sys.exit(0)
else:
print "Dynamixels connected."
# Initialize servos
for servoId in xrange(1, self.maxID + 1):
dyn = self.actuators[servoId]
dyn.torque_enable = True
dyn.goal_position = dyn.current_position
def changeId(oldid, newid):
#Make sure to only have 1 dynamixel connected!!
newDynamixel = dynamixel.Dynamixel(oldid, net)
net._dynamixel_map[oldid] = newDynamixel
newDynamixel._set_id(newid)
#servoId2 = newDynamixel._get_id()
print 'Success'
def addDynamixel(servoid, initial_position=512):
newDynamixel = dynamixel.Dynamixel(servoid, net)
net._dynamixel_map[servoid] = newDynamixel
newDynamixel._set_synchronized(False)
newDynamixel.moving_speed = 200
newDynamixel.torque_enable = True
newDynamixel.torque_limit = 600
newDynamixel.max_torque = 1023
newDynamixel.goal_position = initial_position
def __init__(self, trim, name='raider'):
# Configuration
self._name = name
self._trim = trim
self.dxl = dynamixel.Dynamixel()
self.joint_position = np.full(25, 512)
self.osc = []
for i in range(25):
self.osc.append(octosnake.Oscillator())
def __init__(self):
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port=config.port,
baudrate=config.baudRate,
timeout=1)
# Instantiate our network object
self.net = dynamixel.DynamixelNetwork(serial)
# Populate our network with dynamixel objects
for servoId in config.wheels[0] + config.wheels[1] + config.joints:
newDynamixel = dynamixel.Dynamixel(servoId, self.net)
self.net._dynamixel_map[servoId] = newDynamixel
# Initial read in
for actuator in self.net.get_dynamixels():
print 'Currently on motor %d' % actuator.id
actuator.read_all()
if actuator.id in config.wheels[0]:
print ' Left wheel'
actuator.cw_angle_limit = 0
actuator.ccw_angle_limit = 0
# actuator.moving_speed = 200
elif actuator.id in config.wheels[1]:
print ' Right wheel'
actuator.cw_angle_limit = 0
actuator.ccw_angle_limit = 0
# actuator.moving_speed = 1223
elif actuator.id in config.joints:
print ' Joint'
actuator.cw_angle_limit = 0
actuator.ccw_angle_limit = 1023
# actuator.moving_speed = 100
actuator.torque_enable = True
actuator.torque_limit = 800
actuator.max_torque = 800
# actuator.goal_position = 512
else:
print ' Something is wrong'
# Some state information of the Mantis robot
self.moveVelocity = 0
self.skidVelocity = 0
self.currentAngle = self.net[config.joints[0]].current_position
self.turnStopped = False
self.liftStopped = False
# Start the scheduled synchronize every 0.2 seconds
self.synchronize(0.2)
def __init__(self, settings, errorlog):
try:
self.name = settings['name']
except:
self.name = "RULS_DEFAULT"
self.clientsocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.connected = False
self.configurations = {}
self.configuration_ids = []
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
try:
self.serial = dynamixel.SerialStream(port=settings['port'],
baudrate=settings['baudRate'],
timeout=1)
except:
errorlog.write("ERROR: No Dynamixels Found!\n")
printdt("No Dynamixels Found!")
device_controller.restart_program()
# Instantiate our network object
self.net = dynamixel.DynamixelNetwork(self.serial)
# Populate our network with dynamixel objects
for servoId in settings['servoIds']:
newDynamixel = dynamixel.Dynamixel(servoId, self.net)
self.net._dynamixel_map[servoId] = newDynamixel
# Get all the dynamixels in the network
if not self.net.get_dynamixels():
errorlog.write("ERROR: No Dynamixels Found!\n")
printdt("No Dynamixels Found!")
device_controller.restart_program()
else:
printdt("Dynamixels found, network initialized")
for actuator in self.net.get_dynamixels():
actuator._set_to_wheel_mode()
actuator.moving_speed = 1024
actuator.torque_enable = False
actuator.torque_limit = 1023
actuator.max_torque = 1023
actuator.goal_position = 512
self.net.synchronize()
def scan(self, start_id, end_id):
"""
Scan the network to discover the Dynamixels present.
start_id - the id for the start of the search
end_id - the id for the end of the search
Note:
function builds an internal list of Dynamixels present on the network.
Typically call this function only once per DynamixelNetwork instance
it will rebuild the list and create new Dynamixel instances to fill it,
any previously retrieved Dynamixels.
for all possible IDs (0 thru 254) can be time consuming.
So if the range can be constrained to predetermined values it can
speed up the process.
"""
self._dynamixel_map = {}
ids = self.scan_ids(start_id, end_id)
for ident in ids:
self._dynamixel_map[ident] = dynamixel.Dynamixel(ident, self)
def main(settings):
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port=settings['port'],
baudrate=settings['baudRate'],
timeout=1)
# Instantiate our network object
net = dynamixel.DynamixelNetwork(serial)
# Populate our network with dynamixel objects
for servoId in settings['servoIds']:
newDynamixel = dynamixel.Dynamixel(servoId, net)
net._dynamixel_map[servoId] = newDynamixel
if not net.get_dynamixels():
print 'No Dynamixels Found!'
sys.exit(0)
else:
print "...Done"
# Prompt the user to move servos.
answer = raw_input("Would you like to move all the servos to the home position?"
"\nWARNING: If servos are obstructed this could damage them "
"\nor things in their path. [y/N] ")
if answer in ['y', 'Y', 'yes', 'Yes', 'YES']:
# Set up the servos
for actuator in net.get_dynamixels():
actuator._set_to_joint_mode()
actuator.moving_speed = 50
actuator.torque_enable = True
actuator.torque_limit = 800
actuator.max_torque = 800
actuator.goal_position = 512
# Send all the commands to the servos.
net.synchronize()
print("Congratulations! Read the code to find out how that happened!")
def mainSetup(settings):
global robot
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port=settings['port'],
baudrate=settings['baudRate'],
timeout=0.02)
# Instantiate our network object
net = dynamixel.DynamixelNetwork(serial)
# Populate our network with dynamixel objects
for servoId in settings['servoIds']:
newDynamixel = dynamixel.Dynamixel(servoId, net)
net._dynamixel_map[servoId] = newDynamixel
if not net.get_dynamixels():
print 'No Dynamixels Found!'
sys.exit(0)
else:
print "...Done"
robot = net
def translate_to_dynamixel(value):
k = translate(value, -150, 150, 0, 1023)
return int(k)
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port='/dev/ttyUSB0',
baudrate='1000000',
timeout=2)
# Instantiate our network object
net = dynamixel.DynamixelNetwork(serial)
Dynamixel1 = dynamixel.Dynamixel(1, net)
Dynamixel2 = dynamixel.Dynamixel(2, net)
Dynamixel3 = dynamixel.Dynamixel(3, net)
Dynamixel4 = dynamixel.Dynamixel(4, net)
Dynamixel5 = dynamixel.Dynamixel(5, net)
net._dynamixel_map[1] = Dynamixel1
net._dynamixel_map[2] = Dynamixel2
net._dynamixel_map[3] = Dynamixel3
net._dynamixel_map[4] = Dynamixel4
net._dynamixel_map[5] = Dynamixel5
# Populate our network with dynamixel objects
# Set up the servos
actuator1 = Dynamixel1
actuator2 = Dynamixel2
net.scan(1,highestServoId) settings['servoIds']=[] print 'found the following dynamixels IDs:' for dyn in net.get_dynamixels(): print dyn.id settings['servoIds'].append(dyn.id) if not settings['servoIds']: print 'No Dynamixels Found!' sys.exit(0) ####################################START POSITION#################################### net = dynamixel.DynamixelNetwork(serial) for servoId in settings['servoIds']: newDynamixel = dynamixel.Dynamixel(servoId, net) net._dynamixel_map[servoId] = newDynamixel if not net.get_dynamixels(): print 'No Dynamixels' else: print "setup done, test can begin" for actuator in net.get_dynamixels(): actuator.moving_speed = 55 actuator.torque_enable = True actuator.torque_limit = 800 actuator.max_torque = 800 net.synchronize() S1 = net.get_dynamixels()[2] S2 = net.get_dynamixels()[0]
import dynamixel import sys import time serial = dynamixel.SerialStream(port=sys.argv[1], baudrate=1000000, timeout=1) net = dynamixel.DynamixelNetwork(serial) pan = dynamixel.Dynamixel(1, net) net._dynamixel_map[1] = pan tilt = dynamixel.Dynamixel(2, net) net._dynamixel_map[2] = tilt pan.torque_enable = True tilt.torque_enable = True pan.moving_speed = 100 tilt.moving_speed = 100 pan.goal_position = 512 tilt.goal_position = 512 net.synchronize()
#!/usr/bin/env python2
# Import the dynamixel library
import dynamixel
# Import the time library for it's sleep functionality
import time
# Open a connection to the USB2Dynamixel device
serial = dynamixel.SerialStream(port="/dev/ttyUSB0",
baudrate=1000000,
timeout=1)
# Configure a DynamixelNetwork
net = dynamixel.DynamixelNetwork(serial)
# Configure the motor servo actuator
actuator = dynamixel.Dynamixel(1, net)
net._dynamixel_map[1] = actuator
# Configure the actuator such that it is in free running mode, and at a standstill
# The speed of the motor is configured in steps
# The values 0-1023 sets the motor to rotate clockwise at the given speed (1023 max)
# The values 1024-2047 sets the motor to rotate counterclockwise at the given speed - 1024
# The value 1024 represents stopped
actuator.moving_speed = 1024
# Enable torque for the motor
actuator.torque_enable = True
# Set the maximum torque to maximum
actuator.torque_limit = 1023
actuator.max_torque = 1023
# Set the goal position to 512 to enable free running mode
actuator.goal_position = 512
def buscarServos(self):
"""
busca los servos, los inicia e inicializa el electroiman
La primera vez que se ejecuta guarda la configuracion en un archivo settins.yaml
para futuros usos, asi no hay de volver a buscar y solo carga la ultima configuracion
"""
self.iman = Arduino()
parser = optparse.OptionParser()
parser.add_option(
"-c",
"--clean",
action="store_true",
dest="clean",
default=False,
help=
"Ignore the settings.yaml file if it exists and prompt for new settings."
)
(options, args) = parser.parse_args()
#Busca el archivo settings.yaml
settingsFile = 'settings.yaml'
if not options.clean and os.path.exists(settingsFile):
with open(settingsFile, 'r') as fh:
self.settings = yaml.load(fh)
#Si no lo encuentra
else:
self.settings = {}
self.settings['port'] = '/dev/ttyUSB0'
# Baud rate
baudRate = self.validateInput(1000000, 9600, 1000000)
self.settings['baudRate'] = baudRate
# Servo ID
highestServoId = None
while not highestServoId:
hsiTest = raw_input(
"Please enter the highest ID of the connected servos: ")
highestServoId = self.validateInput(hsiTest, 1, 255)
self.settings['highestServoId'] = highestServoId
highestServoId = self.settings['highestServoId']
#Establece una conexion serial con dynamixel network
#Requiere un USB2Dynamixel
serial = dynamixel.SerialStream(port=self.settings['port'],
baudrate=self.settings['baudRate'],
timeout=1)
net = dynamixel.DynamixelNetwork(serial)
# Ping the range of servos that are attached
print "Scanning for Dynamixels..."
net.scan(1, highestServoId)
self.settings['servoIds'] = []
print "Found the following Dynamixels IDs: "
for dyn in net.get_dynamixels():
print dyn.id
self.settings['servoIds'].append(dyn.id)
# Make sure we actually found servos
if not self.settings['servoIds']:
print 'No Dynamixels Found!'
sys.exit(0)
# Save the output settings to a yaml file
with open(settingsFile, 'w') as fh:
yaml.dump(self.settings, fh)
print(
"Your settings have been saved to 'settings.yaml'. \nTo " +
"change them in the future either edit that file or run " +
"this example with -c.")
# Establish a serial connection to the dynamixel network.
# This usually requires a USB2Dynamixel
serial = dynamixel.SerialStream(port=self.settings['port'],
baudrate=self.settings['baudRate'],
timeout=1)
# Instantiate our network object
self.net = dynamixel.DynamixelNetwork(serial)
# Populate our network with dynamixel objects
for servoId in self.settings['servoIds']:
newDynamixel = dynamixel.Dynamixel(servoId, self.net)
self.net._dynamixel_map[servoId] = newDynamixel
