if cmd == 4:
# print data
in_dir = (data[2] << 8) | data[1]
listed = data[3]
if self.dir_start == 0:
print "listing dir '%s'" % self.dir_path
print "total", in_dir
for i in range(listed):
index = 4 + i * 12
fname = "".join(
map(chr, data[index:index + 12]))
print "\t", i + self.dir_start, "\t", fname
if in_dir > self.dir_start + listed:
self.list_dir(self.dir_path,
self.dir_start + listed)
if __name__ == "__main__":
from_ui = CommandQuee()
to_ui = CommandQuee()
stream = SerialStream(from_ui, to_ui)
stream.open("/dev/rfcomm1", 115200)
stream.start()
ui = Interface(to_ui, from_ui)
ui.start()
def initServos(self):
# Set your serial port accordingly.
if os.name == "posix":
possibilities = ['dev/ttyACM'
] + ['/dev/ttyACM' + str(i) for i in range(25)]
portName = None
for pos in possibilities:
if os.path.exists(pos):
portName = pos
if portName is None:
raise Exception('Could not find any of %s' %
repr(possibilities))
else:
portName = "COM9"
serial = SerialStream(port=portName, baudrate=self.baudRate, timeout=1)
self.net = DynamixelNetwork(serial)
#print 'Prescan...'
#print self.net.get_dynamixels()
print "Scanning for Dynamixels...",
self.net.scan(min(self.expectedIds), max(self.expectedIds))
self.actuators = []
self.actuatorIds = []
for dyn in self.net.get_dynamixels():
print dyn.id,
self.actuatorIds.append(dyn.id)
self.actuators.append(self.net[dyn.id])
print "...Done"
if len(self.actuators) != self.nServos and not self.silentNetFail:
raise RobotFailure(
'Expected to find %d servos on network, but only got %d (%s)' %
(self.nServos, len(self.actuators), repr(self.actuatorIds)))
for actuator in self.actuators:
#actuator.moving_speed = 90
#actuator.synchronized = True
#actuator.torque_enable = True
#actuator.torque_limit = 1000
#actuator.max_torque = 1000
actuator.moving_speed = 250
actuator.synchronized = True
actuator.torque_enable = True
actuator.torque_limit = 1000
actuator.max_torque = 1000
actuator.ccw_compliance_margin = 3
actuator.cw_compliance_margin = 3
self.net.synchronize()
#print 'options are:'
#for op in dir(self.actuators[0]):
# print ' ', op
#for ac in self.actuators:
# print 'Voltage at', ac, 'is', ac.current_voltage, 'load is', ac.current_load
# ac.read_all()
self.currentPos = None
self.resetClock()
def startUsbStream():
messageid = 0
return SerialStream(port='/dev/ttyUSB1', baudrate=57600)
from serial import *
from threading import Thread
from time import sleep
from serial_stream import SerialStream
ser = SerialStream(
port='/dev/ttyUSB1',
baudrate=57600,
# baudrate=111200,
# baudrate=96600,
# bytesize=EIGHTBITS,
# parity=PARITY_NONE,
# stopbits=STOPBITS_ONE,
timeout=0.1,
xonxoff=0,
rtscts=0,
interCharTimeout=None,
bytesize=8,
parity=PARITY_EVEN,
stopbits=STOPBITS_ONE)
while True:
s = ser.read(100)
if (s):
print s
# print "RX data", data
op_hi = data[0]
op_lo = data[1]
print "op_high %02X" % op_hi
print "op_low %02X" % op_lo
if op_lo == 0xFF:
print "Unknown command"
print "Enter high op code to begin in hex"
self.get_modules()
continue
data = data[2:]
print data
self.get_meaning(op_hi, op_lo, data)
if __name__ == "__main__":
from_ui = CommandQuee()
to_ui = CommandQuee()
stream = SerialStream(from_ui, to_ui)
stream.open("/dev/rfcomm0", 115200)
stream.start()
ui = Interface(to_ui, from_ui)
ui.start()
from serial import *
from threading import Thread
from time import sleep
from serial_stream import SerialStream
ser = SerialStream(
port="/dev/ttyUSB1",
baudrate=57600,
# baudrate=111200,
# baudrate=96600,
# bytesize=EIGHTBITS,
# parity=PARITY_NONE,
# stopbits=STOPBITS_ONE,
timeout=0.1,
xonxoff=0,
rtscts=0,
interCharTimeout=None,
bytesize=8,
parity=PARITY_EVEN,
stopbits=STOPBITS_ONE,
)
while True:
s = ser.read(100)
if s:
print s
