def loadServos(self): model = QStandardItemModel() devs = il.devices(il.NET_PROT.EUSB) for dev in devs: try: net = il.Network(il.NET_PROT.EUSB, dev) except il.exceptions.ILCreationError: continue found = net.servos() for servo_id in found: try: servo = il.Servo(net, servo_id) except il.exceptions.ILCreationError: continue item = QStandardItem('0x{:02x} ({})'.format(servo_id, dev)) item.setData(servo, Qt.UserRole) image = QImage(join(_RESOURCES, 'images', 'triton-core.png')) item.setData(QPixmap.fromImage(image), Qt.DecorationRole) model.appendRow([item]) self.cboxServos.setModel(model)
import matplotlib.pyplot as plt import rospy from std_msgs.msg import Float64 import math if __name__ == '__main__': #Setup the network and connection to the motor #print(il.devices(il.NET_PROT.EUSB)) net = il.Network(il.NET_PROT.EUSB, '/dev/ttyACM1') #to find lsusb(1) and dmesg(2) servo_ids = net.servos() first_id = servo_ids[0] #print('Will use servo with id: {}'.format(first_id)) servo = il.Servo(net, first_id) #print(servo.info) # we want to work in degrees and RPM servo.units_pos = il.SERVO_UNITS_POS.DEG #servo.units_vel = il.SERVO_UNITS_VEL.RPM #Homing servo.mode = il.SERVO_MODE.HOMING servo.enable() servo.homing_start() servo.homing_wait(timeout=10.) servo.disable() print("Home position reached. Elbow ready to juggle.")
# Nb, Mc = brake.initNebula() # brake.setTorque(Mc, 500) # time.sleep(2) # print(brake.readCurrent(Mc)) # brake.setTorque(Mc, 0) # print('brake command sent') # brake.close(Nb, Mc) # print('brake closed') # print(il.devices()) # rc = RoboClaw('COM7', 0x80) print('connected to roboclaw') net = il.Network('COM6', timeout=1000) servo_ids = net.servos() first_id = servo_ids[0] servo = il.Servo(net, first_id, timeout=1000) servo.mode = il.MODE_PT servo.units_torque = il.UNITS_TORQUE_NATIVE print(servo.read(regs.TORQUE_MAX)) print('Connected to Servo') servo.enable(timeout=2000) print('Servo Enabled') time.sleep(10) # CMF.setMotorSpeed(rc, CMF.compPWM(45, 0)) # time.sleep(.02) servo.torque = 1000 # servo.wait_reached(timeout=1000) print("Torque Set") start = time.time() print('Start Sleep')