def initCtrl(): min_id, max_id = 0, 20 ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id], timeout=0.05) for motor in ctrl.motors: motor.max_torque = 50 sys.stdout.flush() return ctrl
def init_ctrl(): """motors initialisation""" if len(sys.argv) == 2: min_id, max_id = int(sys.argv[0]), int(sys.argv[1]) else: min_id, max_id = 0, 26 ctrl = dyn.create_controller(verbose = True, motor_range = [min_id, max_id]) sys.stdout.flush() return ctrl
import env # only to debug local (not installed) pydyn version
import sys
import pydyn
import pydyn.dynamixel as dyn
mode = sys.argv[1] if len(sys.argv) == 2 else None
if mode == 'deep':
for bps in [1000000, 500000, 400000, 250000, 200000, 115200, 57600, 19200, 9600]:
ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253],
timeout=50, baudrate=bps, start=False)
ctrl.close()
else:
ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], timeout=50, start=False)
ctrl.close()
motor_id[6], motor_id[7], motor_id[8]))
print("\t\t |_____________|")
print("\t\t\t %d" % motor_id[9])
print("\t\t\t %d" % motor_id[10])
print("\t\t\t %d" % motor_id[11])
elif line == "quit" or line == "":
pass
else:
print("Unknown command")
if __name__ == "__main__":
spider = None
ctrl = dyn.create_controller(verbose=False,
timeout=0.5,
motor_range=[0, 20])
spider = Spider(configLegs(ctrl.motors, simulator=False))
gamepadThread = GamepadHandler(spider)
gamepadThread.daemon = True
gamepadThread.start()
terminalThread = TerminalThread(spider)
terminalThread.daemon = True
terminalThread.start()
while True:
time.sleep(1.0)
spider.move(startNow=False)
import debugenv # only to debug local (not installed) pydyn version
import sys, time
import pydyn.dynamixel as dyn
ctrl = dyn.create_controller(verbose=True, motor_range=[11, 16], full_ram=True)
time.sleep(3.0)
print 'FPS (last 2s): {}'.format(ctrl.fps)
import debugenv # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn pydyn.enable_vrep() ctrl = dyn.create_controller(ip="127.0.0.1", motor_range=[0, 10], verbose=True)
import os, sys
sys.path.insert(0, (os.path.join(os.getcwd(), '..')))
import pydyn.dynamixel as dyn
ctrl = dyn.create_controller(verbose=True,
motor_range=(1, 50),
timeout=20,
enable_pyftdi=True)
print ctrl.motors[0].mmem._memory_data
import debugenv # only to debug local (not installed) pydyn version
import sys, time
import pydyn.dynamixel as dyn
ctrl = dyn.create_controller(verbose = True, motor_range = [11, 16], full_ram = True)
time.sleep(3.0)
print 'FPS (last 2s): {}'.format(ctrl.fps)
import env # only to debug local (not installed) pydyn version
import pydyn
import pydyn.dynamixel as dyn
ctrl = dyn.create_controller(verbose = True, motor_range = [0, 253], start = False)
for m in ctrl.motors:
print m.ram_desc()
import env # only to debug local (not installed) pydyn version
import pydyn
import pydyn.dynamixel as dyn
ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], start=False)
for m in ctrl.motors:
print m.eeprom_desc()
import env # only to debug local (not installed) pydyn version
import sys, time
import pydyn.dynamixel as dyn
if len(sys.argv) == 2:
min_id, max_id = int(sys.argv[1]), int(sys.argv[1])
else:
min_id, max_id = 0, 253
ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id])
print '\nMaking motor compliant... ',
sys.stdout.flush()
for m in ctrl.motors:
m.compliant = True
m.torque_limit = 0.0
ctrl.wait(2)
print 'done'
for m in ctrl.motors:
print "{} compliant : {}".format(m, m.compliant)
import debugenv # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn pydyn.enable_vrep() ctrl = dyn.create_controller(ip='127.0.0.1', motor_range=[0, 10], verbose=True)
import os, sys sys.path.insert(0, (os.path.join(os.getcwd(), '..'))) import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose = True, motor_range=(1, 50), timeout=20, enable_pyftdi=True) print ctrl.motors[0].mmem._memory_data
import env # only to debug local (not installed) pydyn version
import sys, time
import pydyn.dynamixel as dyn
if len(sys.argv) == 2:
min_id, max_id = int(sys.argv[1]), int(sys.argv[1])
else:
min_id, max_id = 0, 253
ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id])
print "\nMaking motor compliant... ",
sys.stdout.flush()
for m in ctrl.motors:
m.compliant = True
m.torque_limit = 0.0
ctrl.wait(2)
print "done"
for m in ctrl.motors:
print "{} compliant : {}".format(m, m.compliant)
import env # only to debug local (not installed) pydyn version
import sys
import pydyn
import pydyn.dynamixel as dyn
mode = sys.argv[1] if len(sys.argv) == 2 else None
if mode == 'deep':
for bps in [
1000000, 500000, 400000, 250000, 200000, 115200, 57600, 19200, 9600
]:
ctrl = dyn.create_controller(verbose=True,
motor_range=[0, 253],
timeout=50,
baudrate=bps,
start=False)
ctrl.close()
else:
ctrl = dyn.create_controller(verbose=True,
motor_range=[0, 253],
timeout=50,
start=False)
ctrl.close()