def __init__(self, useLogger=False):
self.id = [1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12]
self.pose = [
512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512
]
self.nextPose = [
512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512, 512
]
self.speed = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
self.interpolating = False
self.playing = False
self.servoCount = 12
self.lastFrame = pyb.millis()
self.port = UART_Port(1, 1000000)
self.bus = Bus(self.port, show=Bus.SHOW_PACKETS)
# Bus.SHOW_NONE
# Bus.SHOW_COMMANDS
# Bus.SHOW_PACKETS
if useLogger:
self.logger = Logger('sync_log.txt')
else:
self.logger = None
def pyboard_main():
from stm_uart_port import UART_Port
serial = UART_Port(2, 1000000)
bus = Bus(serial, show=Bus.SHOW_NONE)
scan(bus)
from commander_rx import CommanderRx
sysname = os.uname().sysname
if sysname == 'Linux' or sysname == 'Darwin':
import serial
from serial_port import SerialPort
from serial_bus import SerialBus
port = '/dev/ttyUSB0'
try:
port = SerialPort(port, 38400)
except serial.serialutil.SerialException:
print("Unable to open port '{}'".format(port))
sys.exit()
elif sysname == 'pyboard':
from stm_uart_port import UART_Port
port = UART_Port(6, 38400)
else:
print("Unrecognized sysname: {}".format(sysname))
sys.exit()
crx = CommanderRx()
while True:
byte = port.read_byte()
if not byte is None:
#print('Byte =', byte)
if crx.process_byte(byte) == CommanderRx.SUCCESS:
print('Walk: {:4d}h {:4d}v Look: {:4d}h {:4d}v {:08b}'.format(
crx.walkh, crx.walkv, crx.lookh, crx.lookv, crx.button))
log('Timeout')
def scan(self):
self.ids = []
self.scan_range(0, 32)
self.scan_range(100, 32)
if len(self.ids) == 0:
log('No devices found')
else:
log('Scan done')
heartbeat = HeartBeat(RED_LED)
activity = Activity(GREEN_LED)
host_uart = USB_Port()
device_uart = UART_Port(device_uart_num, baud=1000000)
button = pyb.Switch()
pkt = packet.Packet()
rsp = packet.Packet()
log('Pico Adapter - Bioloid Packet Forwarder')
log('Control-C - Quit')
log('s - Scan Bus')
log('d - Debug - Show Packets')
show = Bus.SHOW_NONE
while True:
heartbeat.process()
activity.process()
byte = host_uart.read_byte()
self.bus.scan(start_id, num_ids, self.dev_found, None)
except BusError:
log('Timeout')
def scan(self):
self.ids = []
self.scan_range(0, 32)
self.scan_range(100, 32)
if len(self.ids) == 0:
log('No devices found')
else:
log('Scan done')
host_uart = USB_Port()
device_uart = UART_Port(device_uart_num, baud=1000000)
show = Bus.SHOW_NONE
dev = IO_Adapter(host_uart, show=show)
button = pyb.Switch()
rsp = packet.Packet()
log('Pico IO Adapter - Bioloid Packet Forwarder')
log('Control-C - Quit')
log('s - Scan Bus')
log('d - Debug - Show Packets')
last_update = 0
heartbeat = HeartBeat(RED_LED)
def pyboard_main():
from stm_uart_port import UART_Port
serial_port = UART_Port(6, 1000000)
bus = Bus(serial_port, show_packets=False)
test(bus)