async def main(loop):
# 初期化
# si = SerialInterface(baudrate=3000000)
si = SerialInterface(baudrate=1000000)
robotis = RobotisP20(si)
sid = 1
# ping = await robotis.ping_async(sid)
# print(ping)
robotis.set_torque_enable(True, sid=sid)
time.sleep(0.5)
# print('Current position:', robotis.get_current_position(sid))
# print('Enable Torque?:', robotis.get_torque_enable(sid=sid))
# 0.5秒ごとにサーボを動かす
for i in range(11):
# print('Current position:', robotis.get_current_position(sid))
angle = i * 20 - 100
print('Angle:', angle, 'deg')
robotis.set_target_position(angle, sid=sid)
# print('Target position:', robotis.get_target_position(sid))
time.sleep(0.5)
# クローズ
robotis.close(force=False)
si.close()
async def main(loop):
try:
# Initialize SerialInterface & servo object
si = SerialInterface()
futaba = Futaba(si)
# Get voltage
voltage = await futaba.get_voltage_async(sid=1)
print('Voltage: %.2f(V)' % voltage)
# Close SerialInterface & servo object
futaba.close()
si.close()
except Exception as e:
print('Error', e)
async def main(loop):
try:
# 初期化
si = SerialInterface(device='/dev/tty.usbserial-A601X0TE')
futaba = Futaba(si)
# futaba.reset_memory(sid=1)
futaba.set_torque_enable(False, sid=1)
# futaba.set_baud_rate(Futaba.BAUD_RATE_INDEX_115200, sid=1)
# futaba.set_servo_id(1, sid=2)
# futaba.set_limit_cw_position(150, sid=1)
# futaba.set_limit_ccw_position(-10, sid=1)
# futaba.write_flash_rom(sid=1)
# futaba.set_pid_coefficient(255, sid=1)
# futaba.set_speed(0, sid=1)
futaba.set_torque_enable(True, sid=1)
futaba.set_target_position(120, sid=1)
await asyncio.sleep(3)
# futaba.set_target_position(-120, sid=1)
futaba.set_burst_target_positions({1: -120})
# v = futaba.get_pid_coefficient(sid=1)
# await asyncio.sleep(0.1)
# data = futaba.get_limit_ccw_position(sid=1)
# data = futaba.get_limit_cw_position(sid=1)
# data = futaba.get_limit_temperature(sid=1)
# data = futaba.get_servo_id(sid=1)
# data = futaba.get_target_position(sid=2)
# v = await futaba.get_pid_coefficient_async(sid=1, loop=loop)
# print('######', data)
# クローズ
futaba.close(force=False)
si.close()
except Exception as e:
print('Error', e)
def __init__(self):
super().__init__('gs2d_ros2_driver')
self.get_logger().info('Yes! initializing...')
# self.pub_current_position = self.create_publisher(Float32, '/gs2d_ros2_driver/current_position', 10)
self.sub_target_position = self.create_subscription(
TargetPosition, '/gs2d_ros2_driver/target_position',
self.target_position_callback, 10)
self.sub_torque_enable = self.create_subscription(
TorqueEnable, '/gs2d_ros2_driver/torque_enable',
self.torque_enable_callback, 10)
self.si = SerialInterface(baudrate=1000000)
self.robotis = RobotisP20(self.si)
# encoding: utf-8
import sys
import time
import logging
sys.path.insert(0, '../..')
from gs2d import SerialInterface, Futaba
# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)
try:
# 初期化
si = SerialInterface()
futaba = Futaba(si)
# 電圧をreadで取得
response_data = futaba.read(1, Futaba.ADDR_VOLTAGE_L, 2)
voltage = int.from_bytes(response_data, 'little', signed=True)
voltage /= 100
print('Voltage: {}(V)'.format(voltage))
# トルクON
futaba.write(1, Futaba.ADDR_TORQUE_ENABLE, [1])
# ポジション設定
for position_degree in [0, 50, 0, -50, 0]:
# ADDR_GOAL_POSITION_L 30 (0x1E), ADDR_GOAL_POSITION_H 31 (0x1F) なので
# AddressにはADDR_GOAL_POSITION_Lを指定してDataを2バイト書き込む
import sys
import logging
sys.path.insert(0, '../..')
from gs2d import SerialInterface, Futaba
# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)
try:
def voltage_callback(voltage):
"""電圧取得できたときに呼ばれる"""
print('Voltage: %.2f(V)' % voltage)
# クローズ
futaba.close()
si.close()
# 初期化
si = SerialInterface()
futaba = Futaba(si)
# コールバックつきで電圧取得
futaba.get_voltage(sid=1, callback=voltage_callback)
except Exception as e:
print('Error', e)
#! /usr/bin/env python3
# encoding: utf-8
import sys
import logging
sys.path.insert(0, '../..')
from gs2d import SerialInterface, RobotisP20
# ログ設定
logging.basicConfig()
logging.getLogger('gs2d').setLevel(level=logging.DEBUG)
try:
# 初期化
si = SerialInterface(baudrate=3000000)
robotis = RobotisP20(si)
sid = 1
# 電圧取得
temperature = robotis.get_temperature(sid=sid)
print('Temperature: %.2f(degC)' % temperature)
# クローズ
robotis.close()
si.close()
except Exception as e:
print('Error', e)