def set_offset(self, offset=0): # Command 17 + 18
"""
配置偏差，掉电保护 Set servo offset and save to non-volatile memory to survive reboot
:param self.id: 舵机 id Servo id
:param offset: 偏差 Offset value
:return: True = Successful or Error code
"""
# 设置偏差 Set offset
result = Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.ANGLE_OFFSET_ADJUST,
offset)
if type(result) == str: return result
# 设置为掉电保护 Save to non-volatile memory
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.ANGLE_OFFSET_WRITE)
def set_load(self, mode=1): # Command 31
'''
Set torque bearing mode
:param mode: desired load mode. 0 = unlaoded, 1 = loaded
:return: True = success or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.LOAD_MODE_WRITE, mode)
def unload(self): # Command 31
'''
Set torque free mode
:param self.id: servo id
:return: True = success or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.LOAD_MODE_WRITE, 0)
def stop(self): # Command 12
'''
停止舵机运行 Stop servo immediately
:param self.id: Servo id
:return: True = successful or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.MOVE_STOP)
def servo_mode(self): # Command 29
'''
Set limited angle servo mode
:param self.id: Servo id
:return: Success = True or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.MOTOR_MODE_WRITE, 0)
def set_LED_mode(self, mode=1): # Command 33
'''
Set LED state
:param self.id: Servo id
:param mode: LED mode. 0 LED always on. 1 LED off.
:return:
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.LED_CTRL_WRITE, mode)
def trigger(self): # Command 11
'''
Triggers movement to new position as defined by previously transmitted
new_standby_pos. Command 7.
param self.id: Servo id
:return: True = successful or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.MOVE_START)
def get_pos(self): # Command 28
'''
读取舵机当前位置 Read real time servo position
:param self.id: Servo id
:return: Current servo position or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.POS_READ) # Send data request
if type(msg) == str: print("Current position read error", msg)
return msg # Return value once received
def get_LED_mode(self): # Command 34
'''
Read LED state
:param self.id: Servo id
:return: Return LED mode or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.LED_CTRL_READ) # Send data request
if type(msg) == str: print("LED mode read error", msg)
return msg # Return value once received
def temp(self): # Command 26
'''
读取舵机温度 Read real time servo temperature
:param self.id: Servo id
:return: Temperature value or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.TEMP_READ) # Send data request
if type(msg) == str: print("Current temperature read error", msg)
return msg # Return value once received
def set_vin_limits(self, limits=Vin_limits): # Command 22
'''
设置舵机转动范围 Set servo voltage-in alarm limits
:param self.id: Servo id
:param limits: (Lower, Upper)
:return: True = success or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.VIN_LIMIT_WRITE,
limits[0], limits[1])
def get_LED_err(self): # Command 36
'''
Read LED error code
:param self.id: Servo id
:return: Return LED error code (above) or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.LED_ERROR_READ) # Send data request
if type(msg) == str: print("LED error mode read error", msg)
return msg # Return value once received
def set_rotation_limits(self, limits=rotate_limits): # Command 20
'''
设置舵机转动范围 Set the servo rotation limits
:param self.id: Servo id
:param limits: (Lower, Upper)
:return: True = successful or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.ANGLE_LIMIT_WRITE,
limits[0], limits[1])
def set_pos(self, posn): # Command 1
'''
Move servo to new position
param self.id: Servo id
param pos: position for servo to move to
param tim: time to reach destination in mS
:return: True or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.MOVE_TIME_WRITE,
posn[0], posn[1])
def set_temp_limit(self, m_temp=temp_limits[1]): # Command 24
'''
设置舵机最高温度报警 Set servo temperature alarm value
:param self.id: Servo id
:param m_temp: Temperature value
:return: Error value or True = successful
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.TEMP_LIMIT_WRITE,
m_temp)
def vin(self): # Command 27
'''
读取舵机温度 Read real time servo voltage-in
:param self.id: Servo id
:return: Servo voltage-in or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.VIN_READ) # Send data request
if type(msg) == str: print("Input voltage read read error", msg)
return msg # Return value once received
def get_load_mode(self): # Command 32
'''
Read torque/no torque mode
:param self.id: Servo id
:return: Return motor load mode or error code.
0 for unloaded, no torque output. 1 loaded, high torque output
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.LOAD_MODE_READ) # Send data request
if type(msg) == str: print("Motor mode read error", msg)
return msg # Return value once received
def get_temp_limit(self): # Command 25
'''
读取舵机温度报警范围 Read servo temperature alarm value
:param id: Servo id
:return: Servo temperature alarm value or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id,
Serial_Servo.TEMP_LIMIT_READ) # Send data request
if type(msg) == str: print("Temperature limit read error", msg)
return msg # Return value once received
def get_vin_limits(self): # Command 23
'''
读取舵机转动范围 Read servo voltage-in alarm limits
:param id: Servo id
:return: 返回元祖 0： 低位 1： 高位 0: (Lower limit, Upper limit) or error code
'''
# 发送读取偏差指令 Send read offset command
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.VIN_LIMIT_READ) # Send data request
if type(msg) == str: print("Voltage-in limits read error", msg)
return msg # Return value once received
def motor_mode(self): # Command 30
'''
读取舵机当前位置 Read servo motor mode
:param self.id: Servo id
:return: Return motor mode or error code (mode, speed)
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id,
Serial_Servo.MOTOR_MODE_READ) # Send data request
if type(msg) == str: print("Motor mode read error", msg)
return msg # Return value once received
def get_set_pos(self): # Command 2
'''
Read the last servo set position sent.
THIS IS NOT NECESSARILY THE CURRENT POSITION, it's the last REQUESTED position
:param self.id: Servo id
:return: (Position, Speed) or error code
'''
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id, Serial_Servo.MOVE_TIME_READ) # Send data request
if type(msg) == str: print("Get set position error", msg)
return msg # Return value once received
def get_offset(self): # Command 19
'''
读取偏差值 Read offset value
:param self.id: 舵机号 Servo id
:return: Offset value or error code
'''
# 发送读取偏差指令 Send read offset command
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id,
Serial_Servo.ANGLE_OFFSET_READ) # Send data request
if type(msg) == str: print("Get offset read error", msg)
return msg # Return value once received
def get_rotation_limits(self): # Command 21
'''
读取舵机转动范围 Read the servo rotation limits
:param self.id: Servo id
:return: 返回元祖 0： 低位 1： 高位 (Lower limit, Upper limit) or error code
'''
# 发送读取偏差指令 Send read rotation limits command
msg = Ctrl.serial_servo_read_cmd(
self.pi, self.id,
Serial_Servo.ANGLE_LIMIT_READ) # Send data request
if type(msg) == str: print("Get rotation limits error", msg)
return msg # Return value once received
def set_standby_pos(self, posn): # Command 7
'''
Prepare to move servo to new position.
Nothing happens until the user transmits trigger. Command 11.
param self.id: Servo id
param posn: position for servo to move to
param tim: time to reach destination in mS
:return: True = successful or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.MOVE_TIME_WAIT_WRITE,
posn[0], posn[1])
def set_LED_err(self, mode=7): # Command 35
'''
Set LED error mode
:param self.id: Servo id
:param mode: LED error mode. Range 0 to 7
0 No alarm
1 Over temperature
2 Over voltage
3 Over temperature and over voltage
4 locked_rotor
5 Over temperature and locked_rotor
6 Over voltage and locked_rotor
7 Over temperature , over voltage and locked_rotor
:return: True = success or error code
'''
return Ctrl.serial_servo_write_cmd(self.pi, self.id,
Serial_Servo.LED_ERROR_WRITE, mode)
results["vin_limits"] = self.vin_limits # Command 23
results["vin"] = self.vin # Command 27
results["offset"] = self.offset # Command 19
results["load"] = self.load # Command 32
results["LED_mode"] = self.LED_mode # Command 34
results["LED_err"] = self.LED_err # Command 36
print(" ")
print(" ")
return results # Return data
if __name__ == '__main__':
import pigpio # Standard Raspberry Pi GPIO library
pi = pigpio.pi() # Create a Raspberry Pi object
Ctrl.portinit(pi) # Initialise the read/write switch
servos = ()
for id in range(Serial_Servo.num_servos): # Create all servos
servos += (Serial_Servo(pi, id + 1),
) # tuples are 0 indexed, servos 1 indexed
print(Serial_Servo.num_servos, Serial_Servo.servo_type,
" servos under test.")
results = ()
for id in range(Serial_Servo.num_servos): # for all servos
result = servos[id].servo_state # Collect status information
print(result)
results += (result, )