def set_acc_dec_time(self, time):
commando = b"\x10\x06\x00\x00\x02\x04"
time = time.to_bytes(4, "big")
commando = self.unit_id + commando + time
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
result = self.client.read()
def set_speed(self, speed):
commando = b"\x10\x04\x80\x00\x02\x04"
speed = speed.to_bytes(4, 'big')
commando = self.unit_id + commando + speed
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
time.sleep(0.01)
def set_position_deviation(self,rev_value):
commando = b"\x10\x03\x02\x00\x02\x04"
rev_value = rev_value.to_bytes(4,'big')
commando = self.unit_id + commando + rev_value
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
result = self.client.read()
def go(self,point,speed=2000,rate=1500,stop_rate=1500):
commando = b"\x10\x00\x58\x00\x10\x20\x00\x00\x00\x00\x00\x00\x00\x01"
point = point.to_bytes(4,'big')
speed = speed.to_bytes(4,'big')
rate = rate.to_bytes(4,'big')
stop_rate = stop_rate.to_bytes(4,'big')
op_current = b"\x00\x00\x03\xE8" #100%
trigger = b"\x00\x00\x00\x01"
commando = self.unit_id + commando + point + speed + rate + stop_rate + op_current + trigger
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
result = self.client.read()
def send_init_packet(self,firmware):
# super(DfuTransportSerial, self).send_init_packet(init_packet)
init_packet = 'ffffffffffffffff0100feff'
init_packet += binascii.hexlify(struct.pack('<H', crc16.calc_crc16(firmware, crc=0xffff)))
init_packet = binascii.unhexlify(init_packet)
frame = int32_to_bytes(DFU_INIT_PACKET)
frame += init_packet
frame += int16_to_bytes(0x0000) # Padding required
packet = HciPacket(frame)
self.send_packet(packet)
time.sleep(DfuTransportSerial.SEND_INIT_PACKET_WAIT_TIME)
def send_init_packet(self, firmware):
# super(DfuTransportSerial, self).send_init_packet(init_packet)
init_packet = 'ffffffffffffffff0100feff'
init_packet += binascii.hexlify(
struct.pack('<H', crc16.calc_crc16(firmware, crc=0xffff)))
init_packet = binascii.unhexlify(init_packet)
frame = int32_to_bytes(DFU_INIT_PACKET)
frame += init_packet
frame += int16_to_bytes(0x0000) # Padding required
packet = HciPacket(frame)
self.send_packet(packet)
time.sleep(DfuTransportSerial.SEND_INIT_PACKET_WAIT_TIME)
def go(self, fw, rev, stop=1): #fw : 正回転方向のフラグ , rev : 反対回転方向のフラグ
commando = b"\x10\x00\x7C\x00\x02\x04\x00\x00\x00"
data = 0
stop = stop << 5
rev = rev << 4
fw = fw << 3
data = data | stop
data = data | rev
data = data | fw
data = data.to_bytes(1, "big")
commando = self.unit_id + commando + data
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
time.sleep(0.01)
def go_list(self,list_number,speed=6000,rate=3000,stop_rate=3000):
if(self.move_list):
commando = b"\x10\x00\x58\x00\x10\x20\x00\x00\x00\x00\x00\x00\x00\x01"
point = self.move_list[list_number]
point = point.to_bytes(4,'big')
speed = speed.to_bytes(4,'big')
rate = rate.to_bytes(4,'big')
stop_rate = stop_rate.to_bytes(4,'big')
op_current = b"\x00\x00\x03\xE8" #100%
trigger = b"\x00\x00\x00\x01"
commando = self.unit_id + commando + point + speed + rate + stop_rate + op_current + trigger
crc = calc_crc16(commando)
commando = commando + crc
self.client.write(commando)
result = self.client.read()
else:
print("Error")
def __init__(self, data=''):
HciPacket.sequence_number = (HciPacket.sequence_number + 1) % 8
self.temp_data = ''
self.temp_data += slip_parts_to_four_bytes(
HciPacket.sequence_number, DATA_INTEGRITY_CHECK_PRESENT,
RELIABLE_PACKET, HCI_PACKET_TYPE, len(data))
self.temp_data += data
# Add escape characters
crc = crc16.calc_crc16(self.temp_data, crc=0xffff)
self.temp_data += chr(crc & 0xFF)
self.temp_data += chr((crc & 0xFF00) >> 8)
self.temp_data = slip_encode_esc_chars(self.temp_data)
self.data = chr(0xc0)
self.data += self.temp_data
self.data += chr(0xc0)
def __init__(self, data=''):
HciPacket.sequence_number = (HciPacket.sequence_number + 1) % 8
self.temp_data = ''
self.temp_data += slip_parts_to_four_bytes(HciPacket.sequence_number,
DATA_INTEGRITY_CHECK_PRESENT,
RELIABLE_PACKET,
HCI_PACKET_TYPE,
len(data))
self.temp_data += data
# Add escape characters
crc = crc16.calc_crc16(self.temp_data, crc=0xffff)
self.temp_data += chr(crc & 0xFF)
self.temp_data += chr((crc & 0xFF00) >> 8)
self.temp_data = slip_encode_esc_chars(self.temp_data)
self.data = chr(0xc0)
self.data += self.temp_data
self.data += chr(0xc0)
sys.path.append(os.path.join(os.path.dirname(__file__), '../'))
import crc16
#off/off/on
client = serial.Serial("/dev/ttyACM0",
115200,
timeout=10,
parity=serial.PARITY_EVEN,
stopbits=serial.STOPBITS_ONE) # COMポートは自分の奴を入れる
size = 16
#速度設定
commando = b"\x01\x10\x04\x80\x00\02\x04\x00\x00\x0F\xA0"
print(commando)
result = crc16.calc_crc16(commando)
print("result")
print(commando + result)
commando = commando + result
client.write(commando)
result = client.read()
print(result)
#回転開始
commando = b"\x01\x10\x00\x7C\x00\02\x04\x00\x00\x00\x28"
print(commando)
result = crc16.calc_crc16(commando)
print("result")
print(commando + result)
commando = commando + result
client.write(commando)
