def operationCallback(id, type):
global flag
flag = type
if flag == OperationFlags['Recognize_Finished']:
result = actuatorController.getActuatorIdArray()
print("Number of connected actuators:%d" % (len(result)))
actuatorController.launchAllActuators()
def operationCallback(id, type):
global flag
flag = type
# flag 自动识别完成
if flag == 0:
result = actuatorController.getActuatorIdArray()
print("Number of connected actuators:%d" % (len(result)))
def char_to_directive(directive, value):
result = actuatorController.getActuatorIdArray()
if directive == 'v':
actuatorController.setVelocity(int(result[0]), float(value))
elif directive == 'c':
actuatorController.setCurrent(int(result[0]), float(value))
elif directive == 'p':
actuatorController.setPosition(int(result[0]), float(value))
elif directive == 'a':
actuatorController.activeActuatorMode(int(value))
elif directive == 'l':
actuatorController.launchAllActuators()
elif directive == 's':
actuatorController.closeAllActuators()
def operationCallback(id, type):
global flag
flag = type
if flag == 0:
actuatorController.launchAllActuators()
elif flag == 1:
result = actuatorController.getActuatorIdArray()
print("Number of connected actuators:%d" % (len(result)))
if actuatorController.getActuatorAttribute(
result[0], ActuatorAttribute['ACTUATOR_SWITCH']) == 1:
global bSetLimitation
actuatorController.setHomingPosition(
id,
actuatorController.getActuatorAttribute(
id, ActuatorAttribute['ACTUAL_POSITION']))
actuatorController.setMinPosLimitValue(id, -10)
actuatorController.setMaxPosLimitValue(id, 10)
actuatorController.setActuatorAttribute(
id, ActuatorAttribute['POS_OFFSET'], 0.5)
bSetLimitation = True
def operationCallback(id, type):
global flag
flag = type
if flag == 0:
actuatorController.launchAllActuators()
elif flag == 1:
result = actuatorController.getActuatorIdArray()
if actuatorController.getActuatorAttribute(
result[0], ActuatorAttribute['ACTUATOR_SWITCH']) == 1:
# 调整执行器速度环最小电流输出
actuatorController.setMinOutputCurrent(result[0], -10)
# 调整执行器速度环最大电流输出
actuatorController.setMaxOutputCurrent(result[0], 10)
# 调整执行器位置环最小速度输出
actuatorController.setMinOutputVelocity(result[0], -2000)
# 调整执行器位置环最大速度输出，最大值要大于最小值
actuatorController.setMaxOutputVelocity(result[0], 2000)
# 调整执行器Mode_Profile_Pos的最大速度（RPM）
actuatorController.setActuatorAttribute(
result[0], ActuatorAttribute['PROFILE_POS_MAX_SPEED'], 1000)