def node2_read_variable(ser, variable_id):
can_cmd.can_transmit(ser, msg_id=variable_id, msg_len=0, msg_data=[])
try:
return comms.read_signed_32_from_node2(ser)
except comms.ReadException:
print("Trying to resync!")
basic_cmd.synchronize(ser)
def test_synchronize_2(ser):
assert basic_cmd.synchronize(ser) == 0
def ser():
ser = comms.open_serial_connection('COM3')
basic_cmd.synchronize(ser)
yield ser
ser.close()
assert init_success == 1
mcp2515_cmd.write_can_rx_flag(ser, 1)
time.sleep(3)
encoder_value = motor_read_encoder(ser)
print("Encoder_value", motor_read_encoder(ser))
assert encoder_value > 3000
assert encoder_value < 4000
if __name__ == '__main__':
ser = comms.open_serial_connection('COM3')
basic_cmd.synchronize(ser)
setpoint = 3000
start_time = time.time()
while True:
print(read_all_regulator_variables(ser))
time.sleep(1)
#if ((time.time() - start_time) > 10):
# start_time = time.time()#
# if setpoint == 5000:
# setpoint = 3000
# else:
# setpoint = 5000