#***Before using this example the motor/controller combination must be
#***tuned and the settings saved to the Roboclaw using IonMotion.
#***The Min and Max Positions must be at least 0 and 50000
import time
from roboclaw import Roboclaw
#Windows comport name
#rc = Roboclaw("COM3",115200)
#Linux comport name
rc = Roboclaw("/dev/tty_roboclaw", 115200)
def displayspeed():
enc1 = rc.ReadEncM1(address)
enc2 = rc.ReadEncM2(address)
speed1 = rc.ReadSpeedM1(address)
speed2 = rc.ReadSpeedM2(address)
print("Encoder1:"),
if (enc1[0] == 1):
print enc1[1],
print format(enc1[2], '02x'),
else:
print "failed",
print "Encoder2:",
if (enc2[0] == 1):
print enc2[1],
print format(enc2[2], '02x'),
else:
print "failed ",
from roboclaw import Roboclaw
try: # if on win32 or linux
from serial import SerialException, Serial as UART
except ImportError:
try: # try CircuitPython
from board import UART
except ImportError:
try: # try MicroPythom
from roboclaw.usart_serial_ctx import SerialUART as UART
# Windows comport name
# rc = Roboclaw(UART("COM3", 115200))
# Linux comport name
# rc = Roboclaw(UART("/dev/ttyACM0", 115200))
# if CircuitPython or MicroPythom
rc = Roboclaw(UART(), address=0x80)
def displayspeed():
enc1 = rc.read_encoder_m1()
enc2 = rc.read_encoder_m2()
speed1 = rc.read_speed_m1()
speed2 = rc.read_speed_m2()
print("Encoder1:")
if enc1[0] == 1:
print(enc1[1])
print(format(enc1[2], '02x'))
else:
print("failed")
print("Encoder2:")
