def start(self):
self.proxy.start()
self.get_component('m3actuator')
print "starting components"
self.start_components(['act', 'act_ec', 'pwr'], None)
print "done starting components"
# for k,v in self.comps.items():
# # accomplishes this: self.act=m3s.M3Actuator(self.comp_name)
# setattr(self, k, v['type'](v['name']) )
# self.comps[k]['comp'] = getattr(self,k)
# self.proxy.subscribe_status(getattr(self,k))
# self.proxy.publish_command(getattr(self,k))
# self.proxy.publish_param(getattr(self,k))
# self.proxy.make_operational(v['name'])
# pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.comps['act_ec']['name'])
# pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
# pr=m3f.create_component(pwr_rt)
# self.proxy.publish_command(pr)
# self.proxy.make_operational(pwr_rt)
# self.proxy.make_operational(pwr_ec)
# pr.set_motor_power_on()
self.proxy.step()
#Create gui
self.mode = [0]
self.current_desired = [0]
self.pwm_desired = [0]
#self.enable_ctrl_dev=[0]
self.save = False
self.save_last = False
self.do_scope = False
self.scope = None
self.status_dict = self.proxy.get_status_dict()
#extract status fields
self.scope_keys = m3t.get_msg_fields(self.act.status,
prefix='',
exclude=['ethercat', 'base'])
self.scope_keys.sort()
self.scope_keys = ['None'] + self.scope_keys
self.scope_field1 = [0]
self.scope_field2 = [0]
self.f1_last = None
self.f2_last = None
self.zero_motor_theta = False
self.zero_motor_theta_last = False
self.zero_joint_torque = False
self.zero_joint_torque_last = False
self.zero_joint_torque_lc = False
self.zero_joint_torque_lc_last = False
self.zero_joint_theta = False
self.zero_joint_theta_last = False
current_max = 2.5
pwm_max = 200
self.param_dict = self.proxy.get_param_dict()
# self.joint_torque = self.param_dict[self.comps['act']['name']]['calib']['torque']['cb_bias']
# self.joint_theta = self.param_dict[self.comps['act']['name']]['calib']['theta']['cb_bias']
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=2)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'), range(1),
[['Off', 'PWM', 'Current'], 1], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'PWM (counts)', (self, 'pwm_desired'),
range(1), [-pwm_max, pwm_max], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Current (A)', (self, 'current_desired'),
range(1), [-current_max, current_max], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTheta',
(self, 'zero_joint_theta'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTorque',
(self, 'zero_joint_torque'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTorqueLc',
(self, 'zero_joint_torque_lc'), [], [['On', 'Off']],
m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope1', (self, 'scope_field1'), range(1),
[self.scope_keys, 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope2', (self, 'scope_field2'), range(1),
[self.scope_keys, 1], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self, 'do_scope'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self, 'save'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
self.get_component('m3actuator')
print "starting components"
self.start_components(['ctrl','act','act_ec'],None)
print "done starting components"
# for k,v in self.comps.items():
# # accomplishes this: self.act=m3s.M3Actuator(self.comp_name)
# setattr(self, k, v['type'](v['name']) )
# self.comps[k]['comp'] = getattr(self,k)
# self.proxy.subscribe_status(getattr(self,k))
# self.proxy.publish_command(getattr(self,k))
# self.proxy.publish_param(getattr(self,k))
# self.proxy.make_operational(v['name'])
#
pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.comps['act_ec']['name'])
pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
pr=m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
pr.set_motor_power_on()
self.proxy.step()
#Create gui
self.mode = [0]
self.traj = [0]
self.current = [0]
self.theta = [0]
self.torque = [0]
self.torque_lc = [0]
self.save = False
self.save_last = False
self.do_scope = False
self.scope = None
# extract status fields
self.status_dict = self.proxy.get_status_dict()
self.ctrl_scope_keys = m3t.get_msg_fields(self.ctrl.status,prefix='',exclude=['ethercat','base'])
self.ctrl_scope_keys.sort()
self.ctrl_scope_keys = ['None']+self.ctrl_scope_keys
print self.ctrl_scope_keys
self.ctrl_scope_field1 = [0]
self.ctrl_scope_field2 = [0]
self.ec_scope_field1 = [0]
current_max = 3.5
theta_max = 100.0
torque_max = 40.0
self.param_dict=self.proxy.get_param_dict()
print str(self.param_dict)
self.modes = mec._CTRL_SIMPLE_MODE.values_by_number
self.mode_names = [self.modes[i].name for i in sorted(self.modes.keys())]
self.trajs = mec._CTRL_SIMPLE_TRAJ_MODE.values_by_number
self.traj_names = [self.trajs[i].name for i in sorted(self.trajs.keys())]
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[self.mode_names,1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Traj', (self,'traj'),range(1),[self.traj_names,1],m3g.M3GuiWrite)
# self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Current','Theta','Torque','Torque_LC'],1],m3g.M3GuiWrite)
# self.gui.add('M3GuiModes', 'Traj', (self,'traj'),range(1),[['Off','Current Square','Current Sine','Theta Square','Theta Sine','Torque Square','Torque Sine','TorqueLC Square','TorqueLC Sine'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Current', (self,'current'),range(1), [-current_max,current_max],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Theta(deg)', (self,'theta'),range(1),[-theta_max,theta_max],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Torque', (self,'torque'),range(1),[-torque_max,torque_max],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','TorqueLC', (self,'torque_lc'),range(1),[-torque_max,torque_max],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Ctrl Scope1', (self,'ctrl_scope_field1'),range(1),[self.ctrl_scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Ctrl Scope2', (self,'ctrl_scope_field2'),range(1),[self.ctrl_scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self,'do_scope'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
self.get_component('m3actuator')
print "starting components"
self.start_components(['act','act_ec','pwr'],None)
print "done starting components"
# for k,v in self.comps.items():
# # accomplishes this: self.act=m3s.M3Actuator(self.comp_name)
# setattr(self, k, v['type'](v['name']) )
# self.comps[k]['comp'] = getattr(self,k)
# self.proxy.subscribe_status(getattr(self,k))
# self.proxy.publish_command(getattr(self,k))
# self.proxy.publish_param(getattr(self,k))
# self.proxy.make_operational(v['name'])
# pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.comps['act_ec']['name'])
# pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
# pr=m3f.create_component(pwr_rt)
# self.proxy.publish_command(pr)
# self.proxy.make_operational(pwr_rt)
# self.proxy.make_operational(pwr_ec)
# pr.set_motor_power_on()
self.proxy.step()
#Create gui
self.mode = [0]
self.current_desired = [0]
self.pwm_desired = [0]
#self.enable_ctrl_dev=[0]
self.save = False
self.save_last = False
self.do_scope = False
self.scope = None
self.status_dict=self.proxy.get_status_dict()
#extract status fields
self.scope_keys=m3t.get_msg_fields(self.act.status,prefix='',exclude=['ethercat','base'])
self.scope_keys.sort()
self.scope_keys = ['None']+self.scope_keys
self.scope_field1 = [0]
self.scope_field2 = [0]
self.f1_last = None
self.f2_last = None
self.zero_motor_theta = False
self.zero_motor_theta_last = False
self.zero_joint_torque = False
self.zero_joint_torque_last = False
self.zero_joint_torque_lc = False
self.zero_joint_torque_lc_last = False
self.zero_joint_theta = False
self.zero_joint_theta_last = False
current_max = 2.5
pwm_max = 200
self.param_dict = self.proxy.get_param_dict()
# self.joint_torque = self.param_dict[self.comps['act']['name']]['calib']['torque']['cb_bias']
# self.joint_theta = self.param_dict[self.comps['act']['name']]['calib']['theta']['cb_bias']
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','PWM','Current'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','PWM (counts)', (self,'pwm_desired'),range(1),[-pwm_max,pwm_max],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','Current (A)', (self,'current_desired'),range(1),[-current_max,current_max],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTheta', (self,'zero_joint_theta'), [],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTorque', (self,'zero_joint_torque'), [],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'ZeroJointTorqueLc',(self,'zero_joint_torque_lc'), [],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope1', (self,'scope_field1'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope2', (self,'scope_field2'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self,'do_scope'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
cnames=self.proxy.get_available_components('m3actuator_ec')
self.names=m3t.user_select_components_interactive(cnames)
if len(self.names)==0:
return
self.actuator_ec=[]
for name in self.names:
self.actuator_ec.append(m3f.create_component(name))
self.proxy.subscribe_status(self.actuator_ec[-1])
self.proxy.publish_command(self.actuator_ec[-1])
self.proxy.publish_param(self.actuator_ec[-1])
self.proxy.make_operational(name)
#pwr_ec=self.proxy.get_available_components('m3pwr_ec')
#pwr_rt=self.proxy.get_available_components('m3pwr')
#print 'A',pwr_rt[0],pwr_ec[0]
#if len(pwr_rt):
#pr=m3f.create_component(pwr_rt[0])
#self.proxy.publish_command(pr)
#self.proxy.make_operational(pwr_rt[0])
#self.proxy.make_operational(pwr_ec[0])
#pr.set_motor_power_on()
pwr_rt=m3t.get_actuator_ec_pwr_component_name(self.names[0])
pwr_ec=pwr_rt.replace('m3pwr','m3pwr_ec')
pr=m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
self.proxy.subscribe_status(pr)
pr.set_motor_power_on()
tmax=[x.param.t_max for x in self.actuator_ec]
tmin=[x.param.t_min for x in self.actuator_ec]
self.proxy.step()
for c in self.actuator_ec:
self.bias.append(c.status.adc_torque)
tl=min(tmin)-self.bias[0]
tu=max(tmax)-self.bias[0]
#Create gui
self.mode=[0]
self.pwm_desire=[0]
self.current_desire=[0]
self.save=False
self.save_last=False
self.do_scope=False
self.scope = None
self.scope_keys=m3t.get_msg_fields(self.actuator_ec[0].status)
self.scope_keys.sort()
self.scope_keys=['None']+self.scope_keys
self.scope_field1=[0]
self.scope_field2=[0]
self.status_dict=self.proxy.get_status_dict()
self.param_dict=self.proxy.get_param_dict()
self.gui.add('M3GuiTree', 'Status', (self,'status_dict'),[],[],m3g.M3GuiRead,column=2)
self.gui.add('M3GuiTree', 'Param', (self,'param_dict'),[],[],m3g.M3GuiWrite,column=3)
self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(len(self.actuator_ec)),[['off','pwm','torque','current','brake'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','pwmDesire', (self,'pwm_desire'),range(len(self.actuator_ec)),[-1000,1000],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders','currentDesire', (self,'current_desire'),range(len(self.actuator_ec)),[-10000,10000],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self,'save'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self,'do_scope'),[],[['On','Off']],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope1', (self,'scope_field1'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Scope2', (self,'scope_field2'),range(1),[self.scope_keys,1],m3g.M3GuiWrite)
self.gui.start(self.step)
def start(self):
self.proxy.start()
self.get_component('m3actuator')
print "starting components"
self.start_components(['ctrl', 'act', 'act_ec'], None)
print "done starting components"
# for k,v in self.comps.items():
# # accomplishes this: self.act=m3s.M3Actuator(self.comp_name)
# setattr(self, k, v['type'](v['name']) )
# self.comps[k]['comp'] = getattr(self,k)
# self.proxy.subscribe_status(getattr(self,k))
# self.proxy.publish_command(getattr(self,k))
# self.proxy.publish_param(getattr(self,k))
# self.proxy.make_operational(v['name'])
#
pwr_rt = m3t.get_actuator_ec_pwr_component_name(
self.comps['act_ec']['name'])
pwr_ec = pwr_rt.replace('m3pwr', 'm3pwr_ec')
pr = m3f.create_component(pwr_rt)
self.proxy.publish_command(pr)
self.proxy.make_operational(pwr_rt)
self.proxy.make_operational(pwr_ec)
pr.set_motor_power_on()
self.proxy.step()
#Create gui
self.mode = [0]
self.traj = [0]
self.current = [0]
self.theta = [0]
self.torque = [0]
self.torque_lc = [0]
self.save = False
self.save_last = False
self.do_scope = False
self.scope = None
# extract status fields
self.status_dict = self.proxy.get_status_dict()
self.ctrl_scope_keys = m3t.get_msg_fields(self.ctrl.status,
prefix='',
exclude=['ethercat', 'base'])
self.ctrl_scope_keys.sort()
self.ctrl_scope_keys = ['None'] + self.ctrl_scope_keys
print self.ctrl_scope_keys
self.ctrl_scope_field1 = [0]
self.ctrl_scope_field2 = [0]
self.ec_scope_field1 = [0]
current_max = 3.5
theta_max = 100.0
torque_max = 40.0
self.param_dict = self.proxy.get_param_dict()
print str(self.param_dict)
self.modes = mec._CTRL_SIMPLE_MODE.values_by_number
self.mode_names = [
self.modes[i].name for i in sorted(self.modes.keys())
]
self.trajs = mec._CTRL_SIMPLE_TRAJ_MODE.values_by_number
self.traj_names = [
self.trajs[i].name for i in sorted(self.trajs.keys())
]
self.gui.add('M3GuiTree',
'Status', (self, 'status_dict'), [], [],
m3g.M3GuiRead,
column=2)
self.gui.add('M3GuiTree',
'Param', (self, 'param_dict'), [], [],
m3g.M3GuiWrite,
column=3)
self.gui.add('M3GuiModes', 'Mode', (self, 'mode'), range(1),
[self.mode_names, 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Traj', (self, 'traj'), range(1),
[self.traj_names, 1], m3g.M3GuiWrite)
# self.gui.add('M3GuiModes', 'Mode', (self,'mode'),range(1),[['Off','Current','Theta','Torque','Torque_LC'],1],m3g.M3GuiWrite)
# self.gui.add('M3GuiModes', 'Traj', (self,'traj'),range(1),[['Off','Current Square','Current Sine','Theta Square','Theta Sine','Torque Square','Torque Sine','TorqueLC Square','TorqueLC Sine'],1],m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Current', (self, 'current'), range(1),
[-current_max, current_max], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Theta(deg)', (self, 'theta'), range(1),
[-theta_max, theta_max], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'Torque', (self, 'torque'), range(1),
[-torque_max, torque_max], m3g.M3GuiWrite)
self.gui.add('M3GuiSliders', 'TorqueLC', (self, 'torque_lc'), range(1),
[-torque_max, torque_max], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Save', (self, 'save'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Ctrl Scope1', (self, 'ctrl_scope_field1'),
range(1), [self.ctrl_scope_keys, 1], m3g.M3GuiWrite)
self.gui.add('M3GuiModes', 'Ctrl Scope2', (self, 'ctrl_scope_field2'),
range(1), [self.ctrl_scope_keys, 1], m3g.M3GuiWrite)
self.gui.add('M3GuiToggle', 'Scope', (self, 'do_scope'), [],
[['On', 'Off']], m3g.M3GuiWrite)
self.gui.start(self.step)
