from os import path
sys.path.append(path.dirname(__file__) + 'lib/') #for generic functionality
sys.path.append(path.dirname(__file__) +
'modules/') #specific to various hardware
import random
import struct
from utilities import Utility
from serial_manager import SerialManager
utils = Utility()
manager = SerialManager()
print('\nSelect a port to connect to or a menu option below')
manager.list_ports()
from threads import AutoTimer, EventWrapper
from data_structures import v2_drivetrain as v2dt
from data_structures import mini_arm as marm
marm.status = ord('k')
v2dt.speed1 = 1
v2dt.speed2 = 255
v2dt.status = ord('k')
def e0():
manager.write(marm.get_outgoing_struct())
from __future__ import unicode_literals
import sys
from os import path
sys.path.append(path.dirname(__file__) + 'lib/') #for generic functionality
sys.path.append(path.dirname(__file__) + 'modules/') #specific to various hardware
import random
import struct
from utilities import Utility
from serial_manager import SerialManager
utils = Utility()
manager = SerialManager()
print('\nSelect a port to connect to or a menu option below')
manager.list_ports()
from threads import AutoTimer, EventWrapper
from data_structures import v2_drivetrain as v2dt
from data_structures import mini_arm as marm
marm.status = ord('k')
v2dt.speed1 = 1
v2dt.speed2 = 255
v2dt.status = ord('k')
def e0():
manager.write(marm.get_outgoing_struct())
dataflag = False
print("Select a baudrate:")
for baudrate in baudrates :
print(str(baudrate) + ' bps')
current_baudrate = raw_input()
print (str(current_baudrate))
if int(current_baudrate) not in baudrates:
print('incorrect baudrate selected')
quit()
ser.list_ports()
for i, port in enumerate(ser.ports):
if ser.open_port(i, current_baudrate):
print('Scanning at ' + str(current_baudrate))
for i in range(0, 10):
print('scanning servo at id ' + str(i))
try:
r = Robotis_Servo(ser, i);
ang = r.read_angle()
print('Servo found at id ' + str(i) + ' at angle %.3f' % ang)
except RuntimeError, e:
pass
ser.serial_io.close()
time.sleep(1)
from utilities import Utility from serial_manager import SerialManager from pololu_controller import PololuController from Servo import * from data_structures import mini_arm as marm utils = Utility() alive = True def quit(): global alive alive = False manager1 = SerialManager() print 'Ports available' manager1.list_ports() print 'Select Dynamixel port' user_input = utils.getch() if manager1.open_port(user_input, 57600): serv_2 = Robotis_Servo(manager1, 1) print 'Setting up Dynamixel 2' print 'Dynamixel 2 at ' + str(serv_2.read_angle()) while(alive): serv_2.move_angle(1, 1.5, blocking=False) time.sleep(1) serv_2.move_angle(2, 1.5, blocking=False) time.sleep(1)
from utilities import Utility
from serial_manager import SerialManager
from pololu_controller import PololuController
from Servo import *
from data_structures import mini_arm as marm
utils = Utility()
alive = True
def quit():
global alive
alive = False
manager1 = SerialManager()
print('Ports available')
manager1.list_ports()
print('Select Dynamixel port')
user_input = utils.getch()
if manager1.open_port(user_input, 115200):
serv2 = Robotis_Servo(manager1,2)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv2.read_angle()))
print('Dynamixel encoder at ' + str(serv2.read_encoder()))
serv5 = Robotis_Servo(manager1,5)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv5.read_angle()))
print('Dynamixel encoder at ' + str(serv5.read_encoder()))
