time.sleep(1)
ms = MotorSet(serial_id=stem.serial_id, motor_range=stem.motorid_range, verbose=True)
#ms.zero_pose = stem.zero_pose
#ms.angle_ranges = stem.angle_ranges
def observe_max_angles():
max_angles = [[float('inf'), float('-inf')] for _ in ms.motors]
start = time.time()
while time.time()-start < 60.0:
max_angles = [[min(lb, p), max(hb, p)] for (lb, hb), p in zip(max_angles, ms.pose)]
print(', '.join(gfx.ppv(ma) for ma in max_angles))
ms.max_torque = 100
ms.ccw_angle_limit = 150
ms.cw_angle_limit = -150
ms.ccw_compliance_margin = 0.3
ms.cw_compliance_margin = 0.3
#ms.compliance_margines = (1.0, 1.0)
ms.ccw_compliance_slope_bytes = 32
ms.cw_compliance_slope_bytes = 32
#ms.compliance_slopes = (16, 16)
ms.return_delay_time = 0
ms.status_return_level = 1
ms.alarm_led_bytes = 37
ms.alarm_shutdown_bytes = 37
time.sleep(1.0)
verbose=True)
#ms.zero_pose = stem.zero_pose
#ms.angle_ranges = stem.angle_ranges
def observe_max_angles():
max_angles = [[float('inf'), float('-inf')] for _ in ms.motors]
start = time.time()
while time.time() - start < 60.0:
max_angles = [[min(lb, p), max(hb, p)]
for (lb, hb), p in zip(max_angles, ms.pose)]
print(', '.join(gfx.ppv(ma) for ma in max_angles))
ms.max_torque = 100
ms.ccw_angle_limit = 150
ms.cw_angle_limit = -150
ms.ccw_compliance_margin = 0.3
ms.cw_compliance_margin = 0.3
#ms.compliance_margines = (1.0, 1.0)
ms.ccw_compliance_slope_bytes = 32
ms.cw_compliance_slope_bytes = 32
#ms.compliance_slopes = (16, 16)
ms.return_delay_time = 0
ms.status_return_level = 1
ms.alarm_led_bytes = 37
ms.alarm_shutdown_bytes = 37
time.sleep(1.0)
