def __init__(self, proxy_map):
super(SpecificWorker, self).__init__(proxy_map)
self.mutmState=mutex()
self.busParams=BusParams()
self.motores={}
self.SDK=False
self.lisPos=collections.deque()
self.lisVel=collections.deque()
self.mstateMap ={}
self.setParams()
# try:
self.ser = dynamixel.get_serial_for_url(self.busParams.device,self.busParams.baudRate)
for m in self.motores:
dynamixel.init(self.ser,m.busId)
# except Exception as e:
# print('Unable to move to desired position.')
# print e
self.timer.timeout.connect(self.compute)
self.Period = 100
self.timer.start(self.Period)
from pydynamixel import dynamixel
# You'll need to change this to the serial port of your USB2Dynamixel
serial_port = '/dev/ttyUSB0'
# You'll need to modify these for your setup
servo_id = 1
target_position = 768 # (range: 0 to 1023)
# If this is the first time the robot was powered on,
# you'll need to read and set the current position.
# (See the documentation above.)
first_move = True
try:
ser = dynamixel.get_serial_for_url(serial_port)
if first_move == True:
dynamixel.init(ser, servo_id)
dynamixel.set_position(ser, servo_id, target_position)
dynamixel.send_action_packet(ser)
print('Success!')
except Exception as e:
print('Unable to move to desired position.')
print(e)
from pydynamixel import dynamixel
# You'll need to change this to the serial port of your USB2Dynamixel
serial_port = "/dev/ttyUSB0"
# You'll need to modify these for your setup
target_position = 512 # (range: 0 to 1023)
# If this is the first time the robot was powered on,
# you'll need to read and set the current position.
# (See the documentation above.)
first_move = True
ser = dynamixel.get_serial_for_url(serial_port, baudrate=1000000)
for i in range(1, 19):
dynamixel.init(ser, i)
for i in range(1, 19):
try:
p = dynamixel.get_position(ser, i, num_error_attempts=10)
print "motor", i, "pos", p
dynamixel.set_position(ser, i, 512)
dynamixel.send_action_packet(ser)
# print('Success!')
except Exception as e:
# print('Unable to move to desired position.')
# print(e)
pass
target_position = 0
velocity = 20 # very slow
# If this is the first time the robot was powered on, we need to read
# and set the current position.
# (See the documentation above.)
first_move = True
try:
ser = dynamixel.get_serial_for_url(serial_port)
# Turn the LED off
dynamixel.set_led(ser, servo_id, registers.LED_STATE.OFF)
if first_move == True:
dynamixel.init(ser, servo_id)
# Set the desired position
dynamixel.set_position(ser, servo_id, target_position)
# Set the velocity
dynamixel.set_velocity(ser, servo_id, velocity)
# Move to the desired position
dynamixel.send_action_packet(ser)
# Wait for the arm to stop moving
print('Waiting...')
# Loop until the robot is done moving.
while True:
def init_dynamixel_servo(id):
try:
dyn_raw.init(dyn_serial, id, False, 1)
except dyn_raw.DynamixelException as e:
print(e)
