if link.write(buf):
return True
return False
# 将一个16位的int型数拆成两个8位的
def split_hl(item):
item &= 0xffff
result = [(item & 0xff00) >> 8, item & 0xff]
return result
# 求校验和
def solve_sum(buf):
sum_m = 0
for it in buf:
sum_m += it
sum_m &= 0xff
return sum_m
if __name__ == '__main__':
link = Communtcation(serial_name, 2000000, 8) # 串口链接
if link.open():
run()
else:
rospy.loginfo("Open serialport %s fail" % (serial_name))
exit(0)
link.close()
#!/usr/bin/env python
# coding=utf-8
# Filename : hc_servo_control.py
# Author : Chen Zhizhong
# Created Date : 2014/10/9 21:14
# Description : Servo controls including arms, hands & body lifter
import rospy
from bitathome_hardware_control.srv import *
from hc_serialport_communication import Communtcation
from hc_motor_cmd import solve_sum
node_name = "hc_servo_control" # 节点名称
serial_name = "/dev/ttyUSB1" # 串口名称
link = Communtcation(serial_name, 19200, 8) # 串口链接
# 限制数值范围
def constrain(val, v_min, v_max):
"""
:param val: 数值
:param v_min: 下限
:param v_max: 上限
"""
if val < v_min:
return v_min
elif val > v_max:
return v_max
else:
return val
if link.write(buf):
return True
return False
# 将一个16位的int型数拆成两个8位的
def split_hl(item):
item &= 0xffff
result = [(item & 0xff00) >> 8, item & 0xff]
return result
# 求校验和
def solve_sum(buf):
sum_m = 0
for it in buf:
sum_m += it
sum_m &= 0xff
return sum_m
if __name__ == '__main__':
link = Communtcation(serial_name, 2000000, 8) # 串口链接
if link.open():
run()
else:
rospy.loginfo("Open serialport %s fail" % (serial_name))
exit(0)
link.close()
