Python Kondo_B3M_functions.get_servo_voltage Examples

Example #1

def publish_servo_info():
    global id, num, battery_voltage_warn_flag, battery_voltage_fatal_flag, voltage, k
    multi_servo_info = Multi_servo_info()

    for i in range(num):
        voltage = list(voltage)
        multi_servo_info.encoder_count.append(
            Kondo_B3M.get_encoder_total_count(id[i]))

        # ommit to get motor velocity due to low control rate
        # multi_servo_info.motor_velocity.append(
        #     Kondo_B3M.get_servo_Velocity(id[i]))

        multi_servo_info.input_voltage.append(voltage[i])

    # we don't have to monitor voltage at every loop, so get sparsed at a time per 100 loops
    if k % 100 == 0:
        k = 0
        for j in range(num):
            voltage[j] = Kondo_B3M.get_servo_voltage(id[j])
            if voltage[j] < BATTERY_VOLTAGE_WARN and battery_voltage_warn_flag == 0:
                print("")
                rospy.logwarn('battery voltage is low !')
                battery_voltage_warn_flag = 1
            elif voltage[j] < BATTERY_VOLTAGE_FATAL and battery_voltage_fatal_flag == 0:
                print("")
                rospy.logfatal('battery voltage is fatally low !')

    k = k + 1
    multi_servo_info_pub.publish(multi_servo_info)
    del multi_servo_info

Example #2

File: position_control.py Project: KTD-prototype/kondo_b3mservo_rosdriver_ja

def publish_servo_info():
    global id
    servo_info.encoder_count = Kondo_B3M.get_encoder_total_count(id)

    voltage = Kondo_B3M.get_servo_voltage(id)
    if voltage < BATTERY_VOLTAGE_WARN and battery_voltage_warn_flag == 0:
        rospy.logwarn('battery voltage is low !')
        battery_voltage_warn_flag = 1
    elif voltage < BATTERY_VOLTAGE_FATAL and battery_voltage_fatal_flag == 0:
        rospy.logfatal('battery voltage is low !')
        battery_voltage_fatal_flag = 1
    servo_info.input_voltage = voltage

    servo_info.motor_velocity = Kondo_B3M.get_servo_Velocity(id)
    servo_info_pub.publish(servo_info)

Example #3

File: position_control_manualset.py Project: KTD-prototype/kondo_b3mservo_rosdriver_ja

def publish_servo_info():
    global id, num, battery_voltage_warn_flag, battery_voltage_fatal_flag, voltage
    multi_servo_info = Multi_servo_info()

    for i in range(num):
        multi_servo_info.encoder_count.append(
            Kondo_B3M.get_encoder_total_count(id[i]))
        multi_servo_info.input_voltage.append(
            Kondo_B3M.get_servo_voltage(id[i]))
        voltage = multi_servo_info.input_voltage

        if voltage[i] < BATTERY_VOLTAGE_WARN and battery_voltage_warn_flag == 0:
            print("")
            rospy.logwarn('battery voltage is low !')
            battery_voltage_warn_flag = 1
        elif voltage[i] < BATTERY_VOLTAGE_FATAL and battery_voltage_fatal_flag == 0:
            print("")
            rospy.logfatal('battery voltage is fatally low !')

        multi_servo_info.motor_velocity.append(
            Kondo_B3M.get_servo_Velocity(id[i]))
    multi_servo_info_pub.publish(multi_servo_info)
    del multi_servo_info