import pyb
from BioloidController import BioloidController
controller = BioloidController()
targetPosition = 511
currentPosition = controller.readTwoByteRegister(13, 36) # present position
if targetPosition > currentPosition:
stepDelta = 1
stepAccel = 2
comparison = lambda: targetPosition > (currentPosition + stepDelta)
else:
stepDelta = -1
stepAccel = -2
comparison = lambda: currentPosition > (targetPosition - stepDelta)
while comparison():
movePosition = currentPosition + stepDelta
stepDelta += stepAccel
controller.setPosition(13, movePosition)
currentPosition = controller.readTwoByteRegister(13, 36) # present position
pyb.delay(25)
controller.setPosition(13, targetPosition)
print("Done - stepDelta = ", stepDelta, ' stepAccel = ', stepAccel)
import pyb
from BioloidController import BioloidController
controller = BioloidController()
while True:
positions = []
for id in range(13):
position = controller.readTwoByteRegister(id + 1, 36)
positions.append((id + 1, position))
print(positions)
pyb.delay(500)
import pyb
from BioloidController import BioloidController
controller = BioloidController()
targetPosition = 511
currentPosition = controller.readTwoByteRegister(13, 36) # present position
if targetPosition > currentPosition:
stepDelta = 1
stepAccel = 2
comparison = lambda: targetPosition > (currentPosition + stepDelta)
else:
stepDelta = -1
stepAccel = -2
comparison = lambda: currentPosition > (targetPosition - stepDelta)
while comparison():
movePosition = currentPosition + stepDelta
stepDelta += stepAccel
controller.setPosition(13, movePosition)
currentPosition = controller.readTwoByteRegister(13,
36) # present position
pyb.delay(25)
controller.setPosition(13, targetPosition)
print("Done - stepDelta = ", stepDelta, ' stepAccel = ', stepAccel)
import pyb
from BioloidController import BioloidController
controller = BioloidController()
while True:
positions = []
for id in range(13):
position = controller.readTwoByteRegister(id + 1, 36)
positions.append((id + 1, position))
print(positions)
pyb.delay(500)
