Python SerialInterface Examples

Example #1

File: robotis_test.py Project: karakuri-products/gs2d-python

async def main(loop):
    # 初期化
    # si = SerialInterface(baudrate=3000000)
    si = SerialInterface(baudrate=1000000)
    robotis = RobotisP20(si)

    sid = 1

    # ping = await robotis.ping_async(sid)
    # print(ping)

    robotis.set_torque_enable(True, sid=sid)

    time.sleep(0.5)

    # print('Current position:', robotis.get_current_position(sid))

    # print('Enable Torque?:', robotis.get_torque_enable(sid=sid))

    # 0.5秒ごとにサーボを動かす
    for i in range(11):
        # print('Current position:', robotis.get_current_position(sid))

        angle = i * 20 - 100
        print('Angle:', angle, 'deg')
        robotis.set_target_position(angle, sid=sid)
        # print('Target position:', robotis.get_target_position(sid))
        time.sleep(0.5)

    # クローズ
    robotis.close(force=False)
    si.close()

Example #2

async def main(loop):
    try:
        # Initialize SerialInterface & servo object
        si = SerialInterface()
        futaba = Futaba(si)

        # Get voltage
        voltage = await futaba.get_voltage_async(sid=1)
        print('Voltage: %.2f(V)' % voltage)

        # Close SerialInterface & servo object
        futaba.close()
        si.close()
    except Exception as e:
        print('Error', e)

Example #3

File: futaba_test.py Project: karakuri-products/gs2d-python

async def main(loop):
    try:
        # 初期化
        si = SerialInterface(device='/dev/tty.usbserial-A601X0TE')
        futaba = Futaba(si)

        # futaba.reset_memory(sid=1)

        futaba.set_torque_enable(False, sid=1)
        # futaba.set_baud_rate(Futaba.BAUD_RATE_INDEX_115200, sid=1)
        # futaba.set_servo_id(1, sid=2)
        # futaba.set_limit_cw_position(150, sid=1)
        # futaba.set_limit_ccw_position(-10, sid=1)
        # futaba.write_flash_rom(sid=1)

        # futaba.set_pid_coefficient(255, sid=1)
        # futaba.set_speed(0, sid=1)

        futaba.set_torque_enable(True, sid=1)
        futaba.set_target_position(120, sid=1)
        await asyncio.sleep(3)
        # futaba.set_target_position(-120, sid=1)
        futaba.set_burst_target_positions({1: -120})

        # v = futaba.get_pid_coefficient(sid=1)
        # await asyncio.sleep(0.1)
        # data = futaba.get_limit_ccw_position(sid=1)
        # data = futaba.get_limit_cw_position(sid=1)
        # data = futaba.get_limit_temperature(sid=1)
        # data = futaba.get_servo_id(sid=1)
        # data = futaba.get_target_position(sid=2)
        # v = await futaba.get_pid_coefficient_async(sid=1, loop=loop)
        # print('######', data)

        # クローズ
        futaba.close(force=False)
        si.close()

    except Exception as e:
        print('Error', e)

Example #4

    def __init__(self):
        super().__init__('gs2d_ros2_driver')

        self.get_logger().info('Yes! initializing...')

        # self.pub_current_position = self.create_publisher(Float32, '/gs2d_ros2_driver/current_position', 10)

        self.sub_target_position = self.create_subscription(
            TargetPosition, '/gs2d_ros2_driver/target_position',
            self.target_position_callback, 10)

        self.sub_torque_enable = self.create_subscription(
            TorqueEnable, '/gs2d_ros2_driver/torque_enable',
            self.torque_enable_callback, 10)

        self.si = SerialInterface(baudrate=1000000)
        self.robotis = RobotisP20(self.si)

Example #5

# encoding: utf-8

import sys
import time
import logging

sys.path.insert(0, '../..')
from gs2d import SerialInterface, Futaba

# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)

try:
    # 初期化
    si = SerialInterface()
    futaba = Futaba(si)

    # 電圧をreadで取得
    response_data = futaba.read(1, Futaba.ADDR_VOLTAGE_L, 2)
    voltage = int.from_bytes(response_data, 'little', signed=True)
    voltage /= 100
    print('Voltage: {}(V)'.format(voltage))

    # トルクON
    futaba.write(1, Futaba.ADDR_TORQUE_ENABLE, [1])

    # ポジション設定
    for position_degree in [0, 50, 0, -50, 0]:
        # ADDR_GOAL_POSITION_L 30 (0x1E), ADDR_GOAL_POSITION_H 31 (0x1F) なので
        # AddressにはADDR_GOAL_POSITION_Lを指定してDataを2バイト書き込む

Example #6

File: futaba_voltage_callback.py Project: karakuri-products/gs2d-python

import sys
import logging

sys.path.insert(0, '../..')
from gs2d import SerialInterface, Futaba

# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)

try:

    def voltage_callback(voltage):
        """電圧取得できたときに呼ばれる"""
        print('Voltage: %.2f(V)' % voltage)

        # クローズ
        futaba.close()
        si.close()

    # 初期化
    si = SerialInterface()
    futaba = Futaba(si)

    # コールバックつきで電圧取得
    futaba.get_voltage(sid=1, callback=voltage_callback)

except Exception as e:
    print('Error', e)

Example #7

File: robotis_present_temperature.py Project: karakuri-products/gs2d-python

#! /usr/bin/env python3
# encoding: utf-8

import sys
import logging

sys.path.insert(0, '../..')
from gs2d import SerialInterface, RobotisP20

# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)

try:
    # 初期化
    si = SerialInterface(baudrate=3000000)
    robotis = RobotisP20(si)

    sid = 1

    # 電圧取得
    temperature = robotis.get_temperature(sid=sid)
    print('Temperature: %.2f(degC)' % temperature)

    # クローズ
    robotis.close()
    si.close()

except Exception as e:
    print('Error', e)