def main():
"""
A PyAX-12 demo.
Blink (only once) the LED of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Switch ON the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 1)
# Wait 2 seconds
time.sleep(2)
# Switch OFF the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 0)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Blink (only once) the LED of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Switch ON the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 1)
# Wait 2 seconds
time.sleep(2)
# Switch OFF the LED
serial_connection.write_data(args.dynamixel_id, pk.LED, 0)
# Close the serial connection
serial_connection.close()
def main():
"""
Set the *return delay time* for the specified Dynamixel unit
i.e. the time (in microsecond) for the status packets to return after the
instruction packet is sent.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--return-delay-time",
"-r",
help="The new return delay time assigned to the "
"selected Dynamixel unit. It must be in range "
"(0, 500). The default value is {default}µs "
"({default} microseconds).".format(default=DEFAULT_VALUE),
type=int,
metavar="INT",
default=DEFAULT_VALUE)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_return_delay_time(args.dynamixel_id, args.return_delay_time)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Ping the specified Dynamixel unit.
Returns "True" if the specified unit is available, "False" otherwise.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
is_available = serial_connection.ping(args.dynamixel_id)
print(is_available)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Ping the specified Dynamixel unit.
Returns "True" if the specified unit is available, "False" otherwise.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
is_available = serial_connection.ping(args.dynamixel_id)
print(is_available)
# Close the serial connection
serial_connection.close()
def main():
"""
Set the *ID* for the specified Dynamixel unit
i.e. the unique ID number assigned to actuators for identifying them.
Different IDs are required for each Dynamixel actuators that are on the
same network.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-id",
"-n",
help="The new unique ID assigned to the selected "
"Dynamixel unit. It must be in range (0, 0xFE).",
type=int,
metavar="INT",
default=1)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_id(args.dynamixel_id, args.new_id)
# Close the serial connection
serial_connection.close()
def main():
"""Set the *baud rate* for the specified Dynamixel unit
i.e. set the connection speed with the actuator in kbps
(kilo bauds per second).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-baudrate",
"-n",
help="the new baud rate assigned to the selected "
"Dynamixel unit (in kbps)."
"The default value is {default}kbps.".format(default=DEFAULT_VALUE),
type=float,
metavar="FLOAT",
default=DEFAULT_VALUE)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_baud_rate(args.dynamixel_id, args.new_baudrate)
# Close the serial connection
serial_connection.close()
def main(*args):
# Connect to the serial port
serial_connection = Connection(port="/dev/ttyACM0",
baudrate=100000,
timeout=0.1,
waiting_time=0.02)
print("scanning")
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
print("Scanned")
for dynamixel_id in ids_available:
print("there's something here")
counter = 0
while counter < 60:
# Go to -45 (45 CW)
serial_connection.goto(dynamixel_id,
degrees_to_dxl_angle(counter),
speed=1024,
degrees=False)
time.sleep(1) # Wait 1 second
serial_connection.goto(dynamixel_id,
degrees_to_dxl_angle(-(counter)),
speed=768,
degrees=False)
time.sleep(1)
counter += 1
# Close the serial connection
serial_connection.close()
def main():
"""
Set the *ID* for the specified Dynamixel unit
i.e. the unique ID number assigned to actuators for identifying them.
Different IDs are required for each Dynamixel actuators that are on the
same network.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
parser.add_argument("--new-id",
"-n",
help="The new unique ID assigned to the selected "
"Dynamixel unit. It must be in range (0, 0xFE).",
type=int,
metavar="INT",
default=1)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
serial_connection.set_id(args.dynamixel_id, args.new_id)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Prints the ID list of available Dynamixel units.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__, id_arg=False)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
for dynamixel_id in ids_available:
print(dynamixel_id)
# Close the serial connection
serial_connection.close()
class Emu():
"""Klasse til at kontrollere Dynamixel AX12 actuators"""
def start(self):
"""Metode til at finde USB-porten, fx COM12 på Win, ttyUSB0 på linux"""
#self.sc = Connection(port="/dev/ttyUSB0", baudrate=57600)
self.sc = Connection(port="/dev/ttyUSB0", baudrate=1000000)
#self.sc = Connection(port="COM12", baudrate=1000000)
self.sc.flush()
def scanUnits(self):
"""Scanner dynamixel motorer og returnere deres id'er i en liste"""
ids = self.sc.scan()
return ids
def readDxl(self, ID):
"""Printer oplysninger motoren med ID"""
self.sc.flush()
self.sc.pretty_print_control_table(ID)
def jointMode(self, ID):
"""Skifter motoren med ID til joint mode"""
self.sc.set_cw_angle_limit(ID, 0, False)
self.sc.set_ccw_angle_limit(ID, 1023, False)
def wheelMode(self, ID):
"""Skifter motoren med ID til wheelmode"""
self.sc.set_ccw_angle_limit(ID, 0, False)
self.sc.set_cw_angle_limit(ID, 0, False)
def moveJoint(self, ID, position):
"""Flytter motoren med ID til position"""
self.sc.goto(ID, position, speed=512, degrees=True)
time.sleep(1)
def moveWheel(self, ID, speed):
"""Starter en motor i wheelmode med hastigheden speed"""
if speed < 0:
if speed < -1024:
speed = 2047
else:
speed = 1023 + -speed
else:
if speed > 1023:
speed = 1023
self.sc.flush()
self.sc.goto(ID, 0, int(speed), degrees=False)
def stop(self):
"""Lukker forbindelsen gennem USB-porten til dynamixlerne"""
self.sc.close()
def getPos(self, ID):
"""Returnere motoren med ID's position"""
position = self.sc.get_present_position(ID, True)
return position
def test_init_wrong_timeout_type_str(self):
"""Check that the pyax12.connection.Connection initialization fails
when the "timeout" argument's type is wrong (string)."""
port = None
baudrate = 57600
timeout = "0.1" # wrong type
with self.assertRaises(ValueError):
serial_connection = Connection(port, baudrate, timeout)
serial_connection.close()
def test_init_wrong_port_type(self):
"""Check that the pyax12.connection.Connection initialization fails
when the "port" argument's type is wrong."""
port = False # wrong type (expected: str)
baudrate = 57600
timeout = 0.1
with self.assertRaises(serial.serialutil.SerialException):
serial_connection = Connection(port, baudrate, timeout)
serial_connection.close()
def test_init_wrong_port_value(self):
"""Check that the pyax12.connection.Connection initialization fails
when the "port" argument's value is wrong (/dev/null)."""
port = '/dev/null' # wrong value
baudrate = 57600
timeout = 0.1
with self.assertRaises(serial.serialutil.SerialException):
serial_connection = Connection(port, baudrate, timeout)
serial_connection.close()
def gotoJoint(self,p1,p2,p3,p4,p5):
robot = Connection(port=self.port, baudrate=self.bps)
time.sleep(0.5)
robot.goto(self.motor_1,p1, speed=self.speed, degrees=True)
robot.goto(self.motor_2,p2, speed=self.speed, degrees=True)
robot.goto(self.motor_3,p3, speed=self.speed, degrees=True)
robot.goto(self.motor_4,p4, speed=self.speed, degrees=True)
robot.goto(self.motor_5,p5, speed=self.speed, degrees=True)
time.sleep(0.5)
robot.close()
def setReady(self):
robot = Connection(port=self.port, baudrate=self.bps)
time.sleep(0.5)
robot.goto(self.motor_2,-60, speed=self.speed, degrees=True)
time.sleep(1.5)
robot.goto(self.motor_1,0, speed=self.speed, degrees=True)
robot.goto(self.motor_3,-90, speed=self.speed, degrees=True)
robot.goto(self.motor_4,-90, speed=self.speed, degrees=True)
robot.goto(self.motor_5,45, speed=self.speed, degrees=True)
time.sleep(0.5)
robot.close()
def gotoHome(self):
robot = Connection(port=self.port, baudrate=self.bps)
robot.goto(self.motor_5, 45, speed=self.speed+20, degrees=True)
time.sleep(1.5)
robot.goto(self.motor_6,0, speed=self.speed, degrees=True)
robot.goto(self.motor_3,-130, speed=self.speed, degrees=True)
robot.goto(self.motor_2,-90, speed=self.speed, degrees=True)
time.sleep(3)
robot.goto(self.motor_1,-90, speed=self.speed, degrees=True)
time.sleep(1)
robot.goto(self.motor_4, -90, speed=self.speed, degrees=True)
robot.close()
def main():
"""
A PyAX-12 demo.
Print the control table of the specified Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__, id_arg_mandatory=True)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Print the control table of the specified Dynamixel unit
serial_connection.pretty_print_control_table(args.dynamixel_id)
# Close the serial connection
serial_connection.close()
def main():
"""
This is an *endless turn mode* demo.
If both values for the *CW angle limit* and *CCW angle limit* are set to 0,
an *endless turn mode* can be implemented by setting the *goal speed*.
This feature can be used for implementing a continuously rotating wheel.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
dynamixel_id = args.dynamixel_id
# Set the "wheel mode"
serial_connection.set_cw_angle_limit(dynamixel_id, 0, degrees=False)
serial_connection.set_ccw_angle_limit(dynamixel_id, 0, degrees=False)
# Activate the actuator (speed=512)
serial_connection.set_speed(dynamixel_id, 512)
# Lets the actuator turn 5 seconds
time.sleep(5)
# Stop the actuator (speed=0)
serial_connection.set_speed(dynamixel_id, 0)
# Leave the "wheel mode"
serial_connection.set_ccw_angle_limit(dynamixel_id, 1023, degrees=False)
# Go to the initial position (0 degree)
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Print the internal temperature (in degrees celsius) of the specified
Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
# Print the present internal temperature
print(serial_connection.get_present_temperature(args.dynamixel_id))
# Close the serial connection
serial_connection.close()
def moveAngle(thetar, V, dir):
if thetar < -75: thetar = -75
if thetar > 75: thetar = 75
theta = thetar / 180 * math.pi
if V > 0: dir = 0
elif V < 0: dir = 1
V = abs(V)
if V > 200: V = 200
elif V < 0: V = 0
serial_connection = Connection(port='/dev/ttyUSB0', baudrate=1000000)
tp = computeAngles(theta, V)
pR = tp[0]
pL = tp[1]
vR = tp[2]
vL = tp[3]
serial_connection.goto(2, pR, speed=250, degrees=False)
serial_connection.goto(4, pL, speed=250, degrees=False)
#vR = 200 if vR>200 else vR
#vR = 0 if vR<0 else vR
#if vL>200: vL = 200;
#if vL<0: vL=0;
serial_connection.set_cw_angle_limit(1, 0)
serial_connection.set_ccw_angle_limit(1, 0)
#set to wheel mode - CW and CCW angles limits to zeros sets wheel mode
serial_connection.write_data(
1, 32, pyax12.utils.int_to_little_endian_bytes(vR + 1024 * dir))
serial_connection.set_cw_angle_limit(3, 0)
serial_connection.set_ccw_angle_limit(1, 0)
serial_connection.write_data(
3, 32, pyax12.utils.int_to_little_endian_bytes(vL + 1024 * (1 - dir)))
serial_connection.flush()
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Print the internal temperature (in degrees celsius) of the specified
Dynamixel unit.
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Print the present internal temperature
print(serial_connection.get_present_temperature(args.dynamixel_id))
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Move the specified Dynamixel unit to 0° (0) then go to 300° (1023) then go
back to 150° (511).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
###
dynamixel_id = args.dynamixel_id
# Go to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -45° (45° CW)
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -135° (135° CW)
serial_connection.goto(dynamixel_id, -135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -150° (150° CW)
serial_connection.goto(dynamixel_id, -150, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +150° (150° CCW)
serial_connection.goto(dynamixel_id, 150, speed=512, degrees=True)
time.sleep(2) # Wait 2 seconds
# Go to +135° (135° CCW)
serial_connection.goto(dynamixel_id, 135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +45° (45° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go back to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
###
# Close the serial connection
serial_connection.close()
#input value will be between 0 to 180, eg, info 180 = 90 in data
#1data=1AngleInfo
#AX12 Limits
if Angle3 < -90:
A3 = -90
elif Angle3 > 90:
A3 = 90
else:
A3 = Angle3
serial_connection.goto(dynamixel_id3, A3, speed=speed3, degrees=True)
# #HomeConfiguration
# serial_connection.goto(dynamixel_id1, 300, speed=speed1, degrees=True)
# serial_connection.goto(dynamixel_id2, 30, speed=speed2, degrees=True)
# serial_connection.goto(dynamixel_id3, 0, speed=speed3, degrees=True)
#
# #YesMotionFunction
# serial_connection.goto(dynamixel_id1, 200, speed=speed1, degrees=True)
# serial_connection.goto(dynamixel_id2, 30, speed=speed2, degrees=True)
# serial_connection.goto(dynamixel_id2, 180, speed=speed2, degrees=True)
# serial_connection.goto(dynamixel_id2, 30, speed=speed2, degrees=True)
#
# #NoMotionFuntion
# serial_connection.goto(dynamixel_id2, 30, speed=speed2, degrees=True)
# serial_connection.goto(dynamixel_id1, 200, speed=speed1, degrees=True)
# serial_connection.goto(dynamixel_id1, 500, speed=speed1, degrees=True)
# serial_connection.goto(dynamixel_id1, 200, speed=speed1, degrees=True)
# Close the serial connection
serial_connection.close()
def Graper(self,p6):
robot = Connection(port=self.port, baudrate=self.bps)
robot.goto(self.motor_6, p6, speed=self.speed, degrees=True)
robot.close()
from pyax12.connection import Connection
# Connect to the serial port
# serial_connection = Connection(port="/dev/ttyUSB0", baudrate=57600)
sc = Connection(port="/dev/ttyACM0", baudrate=1000000)
ids = sc.scan()
for id in ids:
print(id)
sc.close()
input()
def Rotate_hnad(self,p7):
robot = Connection(port=self.port, baudrate=self.bps)
robot.goto(self.motor_5, p7, speed=self.speed, degrees=True)
robot.close()
class DynamixelAX12(object):
def __init__(self):
# Connect to the serial port
self.connection = Connection(port="/dev/ttyUSB0", baudrate=57600)
self.dynamixel_x_axis_id = 3
self.dynamixel_z_axis_id = 4
# Setup the angle limits fot the X axis
self.connection.set_cw_angle_limit(self.dynamixel_x_axis_id, -90,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_x_axis_id, 90,
degrees=True)
# Setup the angle limits fot the Z axis
self.connection.set_cw_angle_limit(self.dynamixel_z_axis_id, -90,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_z_axis_id, 90,
degrees=True)
# Goto the initial position (-45°, 0°)
self.connection.goto(self.dynamixel_x_axis_id, -45, speed=255,
degrees=True)
self.connection.goto(self.dynamixel_z_axis_id, 0, speed=255,
degrees=True)
# TODO: set CW_ANGLE_LIMIT and CCW_ANGLE_LIMIT (+ alarms)
# (+ memorize the original values to set them back)
def __del__(self):
# TODO: set CW_ANGLE_LIMIT and CCW_ANGLE_LIMIT (+ alarms)
# Restore the default position (0°, 0°)
self.connection.goto(self.dynamixel_x_axis_id, 0, speed=255,
degrees=True)
self.connection.goto(self.dynamixel_z_axis_id, 0, speed=255,
degrees=True)
# Setup the angle limits for the X axis
self.connection.set_cw_angle_limit(self.dynamixel_x_axis_id,
-150, degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_x_axis_id,
150, degrees=True)
# Setup the angle limits for the Z axis
self.connection.set_cw_angle_limit(self.dynamixel_z_axis_id,
-150, degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_z_axis_id,
150, degrees=True)
self.connection.close()
def apply_control(self, control_vect):
pos_x = self.connection.get_present_position(self.dynamixel_x_axis_id)
pos_z = self.connection.get_present_position(self.dynamixel_z_axis_id)
print(pos_x, pos_z, control_vect)
# The x_axis controls up/down movements
new_pos_x = pos_x + int(control_vect[1] * 20.)
# The z_axis controls left/right movements
# Warning: movements are inverted on the z axis
# (negative commands move the frame to the right)
new_pos_z = pos_z - int(control_vect[0] * 20.)
speed_x = abs(int(control_vect[1] * 1023.)) # 300
speed_z = abs(int(control_vect[0] * 1023.)) # 300
try:
self.connection.goto(self.dynamixel_x_axis_id, new_pos_x, speed=speed_x)
self.connection.goto(self.dynamixel_z_axis_id, new_pos_z, speed=speed_z)
except AngleLimitError:
print("Angle limit")
LSU = 6 # range -113 to 40
LSS = 7 # range -49 to 81
LER = 8 # range -90 to 98
LEU = 9 # range -133 to 86
HD = 10 # range -39 to 36
speed = 200
def send_pos(mid, deg):
serial_connection.goto(mid, deg, speed, degrees=True)
time.sleep(1) #` Wait 1 second
def initall():
for dynamixel_id in range(1, 11):
serial_connection.goto(dynamixel_id, 0, speed, degrees=True)
#time.sleep(1) # Wait 1 second
# Go to 0°
## POSE 1
#dynamixel_id = RSU
#pos = -35
for mid in range(1, 11):
pos = chain.get_present_position(mid, True)
print(mid, " ", pos)
# Close the serial connection
chain.close()
class driverLidars:
def __init__(self):
self.lidars = []
self.serial_connection = []
self.areConnected = 0
def connect(self):
cust_print('Connecting to lidars and servos...')
self.lidars = []
self.serial_connection = []
try:
# Connect to the serial port
self.serial_connection = Connection(port="/dev/ttyAMA0", baudrate=57600, rpi_gpio=True)
except:
cust_print(' Cannot open serial connection for servos!')
#return -1
for lidarNb in range(constants.nb_of_lidars):
try:
self.lidars.append(RPLidar(constants.serialPort[lidarNb],baudrate=115200))
self.lidars[lidarNb].connect()
except:
cust_print(' Cannot connect to the lidar' + str(lidarNb+1) + '!')
return -1
cust_print(' Connected to lidar' + str(lidarNb+1))
try:
# Try to ping the motor
if self.serial_connection.ping(constants.servosIDs[lidarNb]) == False:
raise
self.serial_connection.set_speed(BROADCAST_ID,constants.servosSpeed)
self.servos_goto(constants.servosIDs[lidarNb],0)
except:
cust_print(' Cannot connect to the servo' + str(lidarNb+1) + '!')
return -1
cust_print(' Connected to servo' + str(lidarNb+1))
time.sleep(0.25) # To avoid a too high current drain
self.areConnected = 1
return 0
def disconnect(self):
cust_print('Disconnecting to lidars and servos...')
self.serial_connection.close()
cust_print(' Disconnected to servos serial')
for lidarNb in range(constants.nb_of_lidars):
self.lidars[lidarNb].stop()
self.lidars[lidarNb].disconnect()
time.sleep(0.25) # To avoid to drain too much current
cust_print(' Disconnected to lidar' + str(lidarNb+1))
self.lidars[:] = []
self.areConnected = 0
def servos_goto(self,servosID,position):
self.serial_connection.goto(servosID,position,degrees=True)
def check_link_state(self):
for lidarNb in range(constants.nb_of_lidars):
try:
self.lidars[lidarNb].stop()
self.lidars[lidarNb].get_health()
except:
cust_print('Link error with lidar' + str(lidarNb+1))
self.disconnect()
return -1
try:
if self.serial_connection.ping(constants.servosIDs[lidarNb]) == False:
raise
except:
cust_print('Link error with servo' + str(lidarNb+1))
self.disconnect()
return -1
return 0
def stop_motors(self):
for lidarNb in range(constants.nb_of_lidars):
self.lidars[lidarNb].stop_motor()
def start_motors(self):
for lidarNb in range(constants.nb_of_lidars):
self.lidars[lidarNb].start_motor()
time.sleep(0.25) # To avoid to drain too much current
def wait_servos_moving(self):
for lidarNb in range(constants.nb_of_lidars):
timeout = 100 # 10 seconds
while True:
try:
while self.serial_connection.is_moving(constants.servosIDs[lidarNb]) == True:
timeout -= 1
if timeout <= 0:
cust_print(" Problem with the servo" + str(lidarNb+1) + "!")
self.disconnect()
return -1
time.sleep(0.1)
break
except:
pass
return 0
def single_scan(self,current_angle_z,meas_nb,erase_file):
file = []
iterMeas = []
datasLeft = []
done = []
for lidarNb in range(constants.nb_of_lidars):
try:
path = constants.dataPath + r'/DatasL' + str(lidarNb+1) + '.txt'
if erase_file == True:
file.append(open(path,'w'))
else:
file.append(open(path,'a'))
except:
cust_print(' Cannot open file for lidar' + str(lidarNb+1) + '!')
self.disconnect()
return -1
try:
iterMeas.append(self.lidars[lidarNb].iter_measures(max_buf_meas=10000))
except:
cust_print(' Cannot communicate with lidar' + str(lidarNb+1) + '!')
return -1
datasLeft.append(constants.nbOfDatasToRetrieve)
done.append(False)
try:
while False in done:
for lidarNb in range(constants.nb_of_lidars):
if done[lidarNb] == False:
datas = next(iterMeas[lidarNb])
angle = -1*((datas[2]+constants.offset_angle_lidar+180.0)%360 - 180.0)
dist = datas[3]
# First selection of points
if angle >= -30 and angle <= +30 and dist > 0:
file[lidarNb].write(str(angle) + ' ' + str(current_angle_z) + ' ' + str(dist) + '\n')
datasLeft[lidarNb] -= 1
if datasLeft[lidarNb] < 1:
done[lidarNb] = True
except:
cust_print(' Cannot retrieve datas on lidar ' + str(lidarNb+1) + '!')
self.disconnect()
return -1
for lidarNb in range(constants.nb_of_lidars):
try:
self.lidars[lidarNb].stop()
except:
cust_print(' Cannot communicate with lidar'+ str(lidarNb+1) + '!')
return -1
file[lidarNb].close()
return 0
def scan_datas(self,stature):
cust_print('Datas scanning...')
# Get height from stature
lin_coeffs_navel_height = [0.66410011, -105.89395578]
height = (stature*10)*lin_coeffs_navel_height[0] + lin_coeffs_navel_height[1]
cust_print(" Target: " + str(int(height/10)) + "cm")
self.start_motors()
# Clean the infos file
try:
infoFile = open(constants.dataPath + r'/scan_infos.txt','w')
except:
cust_print(" Cannot open infos file")
return -1
[inclination_array,nbMes_array] = compute_angle_array_for_scan(height)
for i in range(len(inclination_array)):
try:
# Broadcast moving action to all servos
self.servos_goto(BROADCAST_ID,inclination_array[i])
except:
cust_print(" Problem with the serial connection!")
self.disconnect()
return -1
if self.wait_servos_moving() != 0:
return -1
if i == 0:
if self.single_scan(inclination_array[i],nbMes_array[i],True) != 0:
return -1
else:
if self.single_scan(inclination_array[i],nbMes_array[i],False) != 0:
return -1
# Write the height of scan in the info file
try:
infoFile = open(constants.dataPath + r'/scan_infos.txt','a')
infoFile.write(str(height))
except:
cust_print(" Cannot open infos file")
return -1
try:
# Broadcast moving action to all servos
self.servos_goto(BROADCAST_ID,0)
except:
cust_print(" Problem with the serial connection!")
self.disconnect()
return -1
cust_print(' All the datas have been successfully retrieved.')
self.stop_motors()
return 0
from pyax12.connection import Connection conn = Connection(port="/dev/ttyACM0", baudrate=57600) dxlid = 1 print(conn.ping(1)) #conn.pretty_print_control_table(dxlid) conn.close()
def main():
"""
A PyAX-12 demo.
Move the specified Dynamixel unit to 0° (0) then go to 300° (1023) then go
back to 150° (511).
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(args.port, args.baudrate, args.timeout)
###
dynamixel_id = 1
# Go to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -45° (45° CW)
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -135° (135° CW)
serial_connection.goto(dynamixel_id, -135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to -150° (150° CW)
serial_connection.goto(dynamixel_id, -150, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +150° (150° CCW)
serial_connection.goto(dynamixel_id, 150, speed=512, degrees=True)
time.sleep(2) # Wait 2 seconds
# Go to +135° (135° CCW)
serial_connection.goto(dynamixel_id, 135, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go to +45° (45° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
# Go back to 0°
serial_connection.goto(dynamixel_id, 0, speed=512, degrees=True)
###
# Close the serial connection
serial_connection.close()
def main():
"""
A PyAX-12 demo.
Find all the currently connected AX12s and jog them back and forth through a series of turns
"""
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port=args.port,
baudrate=args.baudrate,
timeout=args.timeout,
rpi_gpio=args.rpi)
# Ping the dynamixel unit(s)
ids_available = serial_connection.scan()
print("Found %d servos with ids %s" % (len(ids_available), ids_available))
prev_pos = [
int(serial_connection.get_present_position(i, degrees=False))
for i in ids_available
]
print(prev_pos)
#type(prev_pos[0])
for dynamixel_id in ids_available:
print("Starting position for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=True)))
# Go to -45°
serial_connection.goto(dynamixel_id, -45, speed=512, degrees=True)
print("-45 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
time.sleep(1) # Wait 1 second
# Go to -90° (90° CW)
serial_connection.goto(dynamixel_id, -90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("-90 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 45, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("+45 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Go to +90° (90° CCW)
serial_connection.goto(dynamixel_id, 90, speed=512, degrees=True)
time.sleep(1) # Wait 1 second
print("+90 angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
serial_connection.goto(dynamixel_id, 340, speed=512, degrees=False)
time.sleep(1) # Wait 1 second
print("Home angle for servo %d is %d" %
(dynamixel_id,
serial_connection.get_present_position(dynamixel_id,
degrees=False)))
# Close the serial connection
serial_connection.close()
class DynamixelAX12(object):
def __init__(self):
# Connect to the serial port
self.connection = Connection(port="/dev/ttyACM0", baudrate=57600)
self.dynamixel_x_axis_id = 3
self.dynamixel_z_axis_id = 4
# Setup the angle limits fot the X axis
self.connection.set_cw_angle_limit(self.dynamixel_x_axis_id,
-90,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_x_axis_id,
90,
degrees=True)
# Setup the angle limits fot the Z axis
self.connection.set_cw_angle_limit(self.dynamixel_z_axis_id,
-90,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_z_axis_id,
90,
degrees=True)
# Goto the initial position (-45°, 0°)
self.connection.goto(self.dynamixel_x_axis_id,
-45,
speed=255,
degrees=True)
self.connection.goto(self.dynamixel_z_axis_id,
0,
speed=255,
degrees=True)
# TODO: set CW_ANGLE_LIMIT and CCW_ANGLE_LIMIT (+ alarms)
# (+ memorize the original values to set them back)
def __del__(self):
# TODO: set CW_ANGLE_LIMIT and CCW_ANGLE_LIMIT (+ alarms)
# Restore the default position (0°, 0°)
self.connection.goto(self.dynamixel_x_axis_id,
0,
speed=255,
degrees=True)
self.connection.goto(self.dynamixel_z_axis_id,
0,
speed=255,
degrees=True)
# Setup the angle limits for the X axis
self.connection.set_cw_angle_limit(self.dynamixel_x_axis_id,
-150,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_x_axis_id,
150,
degrees=True)
# Setup the angle limits for the Z axis
self.connection.set_cw_angle_limit(self.dynamixel_z_axis_id,
-150,
degrees=True)
self.connection.set_ccw_angle_limit(self.dynamixel_z_axis_id,
150,
degrees=True)
self.connection.close()
def apply_control(self, control_vect):
pos_x = self.connection.get_present_position(self.dynamixel_x_axis_id)
pos_z = self.connection.get_present_position(self.dynamixel_z_axis_id)
print(pos_x, pos_z, control_vect)
# The x_axis controls up/down movements
new_pos_x = pos_x + int(control_vect[1] * 20.)
# The z_axis controls left/right movements
# Warning: movements are inverted on the z axis
# (negative commands move the frame to the right)
new_pos_z = pos_z - int(control_vect[0] * 20.)
speed_x = abs(int(control_vect[1] * 1023.)) # 300
speed_z = abs(int(control_vect[0] * 1023.)) # 300
try:
self.connection.goto(self.dynamixel_x_axis_id,
new_pos_x,
speed=speed_x)
self.connection.goto(self.dynamixel_z_axis_id,
new_pos_z,
speed=speed_z)
except AngleLimitError:
print("Angle limit")
class MotorManager:
'''
Class to manage motor
port on Windows should be 'COMX'
port on Posix should be '/dev/ttyUSBX'
'''
def __init__(self,
p="/dev/ttyUSB0",
baudRate=1000000,
scanLimit=20,
defaultSpeed=90):
self.serial_connection = Connection(port=p, baudrate=baudRate)
self.connected_motor_ids = []
self.scan_limit = scanLimit
self.default_speed = defaultSpeed
self.available_baudrate = '''+------+-----------+------------+
| Data | Set BPS | Target BPS |
+------+-----------+------------+
| 1 | 1000000.0 | 1000000.0 |
| 3 | 500000.0 | 500000.0 |
| 4 | 400000.0 | 400000.0 |
| 7 | 250000.0 | 250000.0 |
| 9 | 200000.0 | 200000.0 |
| 16 | 117647.1 | 115200.0 |
| 34 | 57142.9 | 57600.0 |
| 103 | 19230.8 | 19200.0 |
| 207 | 9615.4 | 9600.0 |
+------+-----------+------------+'''
self.available_baud_ids = [1, 3, 4, 7, 9, 16, 34, 103, 207]
def terminateConnection(self):
self.serial_connection.close()
print("Connection is closed.")
###########################
# Get Connected Motor Ids #
###########################
def getConnectIds(self):
self.connected_motor_ids = list(
self.serial_connection.scan(range(self.scan_limit)))
print("Available ids are", self.connected_motor_ids)
###########
# Set Ids #
###########
def setNewIdOf(self, motor_id, new_id):
if motor_id == new_id or new_id < 1 or new_id > 254:
print(
"Please use id in range of 1-254 and not duplicated with old id: {0}"
.format(motor_id))
return
self.serial_connection.set_id(motor_id, new_id)
print("Motor id {0} is changed to id {1}.".format(motor_id, new_id))
#####################
# Print Information #
#####################
def printAvailableBaudrates(self):
print(self.available_baudrate)
def printControlTable(self, motor_id):
self.serial_connection.pretty_print_control_table(motor_id)
####################
# Position Control #
####################
def setPositionOf(self, motor_id, pos=512, speed=90):
self.serial_connection.goto(motor_id, pos, speed=speed)
def setPositionAll(self, pos=512, speed=90):
for motorId in self.connected_motor_ids:
self.serial_connection.goto(motorId, pos, speed)
def getPositionOf(self, motor_id):
return self.serial_connection.get_goal_position(motor_id)
def getPositionAll(self):
temp = {}
for motorId in self.connected_motor_ids:
temp[motorId] = self.serial_connection.get_goal_position(motorId)
return temp
###############
# Limit Angle #
###############
def setAngleLimitOf(self, motor_id, cwLim, ccwLim):
# set limit for cw rotation
self.serial_connection.set_cw_angle_limit(motor_id, cwLim)
# set limit for ccw rotation
self.serial_connection.set_ccw_angle_limit(motor_id, ccwLim)
print("Angle limit is set at: {0}(cw), {1}(ccw)".format(cwLim, ccwLim))
def getAngleLimitOf(self, motor_id):
cwLim = self.serial_connection.get_cw_angle_limit(motor_id)
ccwLim = self.serial_connection.get_ccw_angle_limit(motor_id)
print("Current angle limit is at: {0}(cw), {1}(ccw)".format(
cwLim, ccwLim))
####################
# Baudrate Control #
####################
def getBaudrateOf(self, motor_id):
return self.serial_connection.get_baud_rate(motor_id)
def getBaudrateAll(self):
temp = {}
for motorId in self.connected_motor_ids:
temp[motorId] = self.serial_connection.get_baud_rate(motorId)
return temp
def setBaudrateOf(self, motor_id, baudId=1):
# check if input baudId is in range
if baudId not in self.available_baud_ids:
print("Please use baudId got from 'Data' column below.")
self.printAvailableBaudrates()
else:
self.serial_connection.set_baud_rate(motor_id,
baudId,
unit="internal")
print("Motor id {0} baudrate is set to {1}: {2}.".format(
motor_id, baudId, round(2000000. / (baudId + 1))))
def setBaudrateAll(self, baudId=1):
# check if input baudId is in range
if baudId not in self.available_baud_ids:
print("Please use baudId got from 'Data' column below.")
self.printAvailableBaudrates()
else:
for motorId in self.connected_motor_ids:
self.serial_connection.set_baud_rate(motorId,
baudId,
unit="internal")
print("Motor id {0} baudrate is set to {1}: {2}.".format(
motorId, baudId, round(2000000. / (baudId + 1))))
#########
# Helps #
#########
@staticmethod
def help():
txt = '''List of methods available.
====== Connection ======
--- Import
from dxlcli import MotorManager
--- Instantiate class
m = MotorManager(p="/dev/ttyUSB0", baudRate=1000000, scanLimit=20, defaultSpeed=90)
*** USE COMXX on Windows ***
--- Terminate connection
m.terminateConnection()
--- Get connected motor ids
m.getConnectIds()
====== ID settings ======
--- Set new id to specified motor id
m.setNewIdOf(motor_id, new_id):
====== Printing Information ======
--- All available baudrates
m.printAvailableBaudrates()
--- Motor status table
m.printControlTable(motor_id)
====== Position Control ======
--- Get
m.getPositionOf(motor_id)
m.getPositionAll()
--- Set
m.setPositionOf(motor_id, pos=512, speed=90)
m.setPositionAll(pos=512, speed=90)
====== Baudrate Control ======
--- Get
getBaudrateOf(motor_id)
getBaudrateAll()
--- Set
setBaudrateOf(motor_id, baudId=1)
setBaudrateAll(baudId=1)
'''
print(txt)
class Robot(object):
def __init__(self,
speed=150,
port='/dev/ttyACM0',
baudrate=1000000,
start_id=2,
debug=False):
self.speed = speed
self.connection = Connection(port=port, baudrate=baudrate)
self.legs = Legs(connection=self.connection,
speed=self.speed,
start_id=start_id)
self.debug = debug
self.connection.flush()
if (self.debug):
print("[debug] connected to port", port, "at", baudrate, baudrate)
def reset(self):
if (self.debug):
print("[debug] scanning")
self.connection.scan()
if (self.debug):
print("[debug] ready")
def close(self):
self.connection.close()
if (self.debug):
print("[debug] closed")
def stand(self):
if (self.debug):
print("[debug] stand")
self.legs.all.hip.goto(45)
self.legs.all.knee.goto(-60)
self.legs.all.ankle.goto(-30)
def kneel(self):
if (self.debug):
print("[debug] kneel")
self.legs.all.hip.goto(-45)
self.legs.all.knee.goto(-90)
self.legs.all.ankle.goto(-90)
def flat(self):
if (self.debug):
print("[debug] flat")
self.legs.all.hip.goto(90)
self.legs.all.knee.goto(0)
self.legs.all.ankle.goto(0)
def walk(self, steps=1, direction="forward", knee_up=False):
if (self.debug):
print("[debug] walk", direction, steps, "steps")
if knee_up == False:
walk = Walk(self)
else:
walk = Walk(self, knee_up=knee_up)
for i in range(0, steps):
walk.step_vertical(["fl", "rr"], "down")
walk.step_horizontal("fl", "rl", direction)
walk.step_horizontal("rr", "fl", direction)
walk.step_vertical(["fl", "rr"], "up")
walk.step_vertical(["fr", "rl"], "down")
walk.step_horizontal("fr", "rr", direction)
walk.step_horizontal("rl", "fr", direction)
walk.step_vertical(["fr", "rl"], "up")
def get_status(self):
servos = [2, 3, 5, 6, 8, 9, 11, 12]
min_voltage = 999
max_voltage = 0
sum_voltage = 0
good_count = 0
for servo in servos:
try:
if not self.connection.ping(servo):
print("ping failed servo", servo)
voltage = self.connection.get_present_voltage(servo)
if voltage > max_voltage:
max_voltage = voltage
elif voltage < min_voltage:
min_voltage = voltage
sum_voltage += voltage
good_count = good_count + 1
except:
print("[error] cannot connect to", servo)
if good_count > 0:
print(min_voltage, max_voltage, sum_voltage / good_count)
else:
print("no servos online")
