def node2_read_variable(ser, variable_id):
can_cmd.can_transmit(ser, msg_id=variable_id, msg_len=0, msg_data=[])
try:
return comms.read_signed_32_from_node2(ser)
except comms.ReadException:
print("Trying to resync!")
basic_cmd.synchronize(ser)
def test_regulator_init(ser):
""" Tries to initialize the regulator
If it works we should get a can mesage with ID 139, and the encoder
value should be between 3000 and 4000
"""
mcp2515_cmd.write_can_rx_flag(ser, 0) # Disable node 1 can reception
can_cmd.can_transmit(ser, 138, 1, [1])
init_success = 0
for i in range(0, 50):
returncode = can_cmd.can_receive(ser)
if returncode != 1:
if returncode[0] == 139:
init_success = 1
break
time.sleep(0.5)
assert init_success == 1
mcp2515_cmd.write_can_rx_flag(ser, 1)
time.sleep(3)
encoder_value = motor_read_encoder(ser)
print("Encoder_value", motor_read_encoder(ser))
assert encoder_value > 3000
assert encoder_value < 4000
def test_can_loopback(ser):
# Set the device in loopback mode
assert mcp.mcp2515_init(ser, mcp.MCP_MODE.LOOPBACK) == mcp.MCP_MODE.LOOPBACK
mcp.write_can_rx_flag(ser, 0)
# After reset, we should not have a pending receive buffer
result = can_cmd.can_pending_rx_buffer(ser)
assert result[1] == 3 # The number 3 indicates no pending buffer
# Construct a message to send
msg_id = 10
msg_data = [1, 2, 3, 4, 5]
msg_len = len(msg_data)
# Try to send the message. It returns 0 on success
assert can_cmd.can_transmit(ser, msg_id, msg_len, msg_data) == 0
time.sleep(0.5)
# Check to see if we have a pending receive buffer
result = can_cmd.can_pending_rx_buffer(ser)
assert result[1] != 3 # 0 or 1 is a valid buffer, 3 is not
mcp.write_can_rx_flag(ser, 1)
# Read out the message
received_msg = can_cmd.can_receive(ser)
transmit_msg = [msg_id, msg_len]
transmit_msg.extend(msg_data)
print("Transmitted:", transmit_msg)
print("Received :", received_msg)
assert received_msg == transmit_msg
def motor_set_output(ser, direction, power):
data = [direction]
data.extend(list(power.to_bytes(2, byteorder='big')))
can_cmd.can_transmit(ser, msg_id=1000, msg_len=3, msg_data=data)
def regulator_set_setpoint(ser, setpoint):
data = list(setpoint.to_bytes(4, byteorder='big', signed=True))
print(data)
can_cmd.can_transmit(ser, msg_id=903, msg_len=4, msg_data=data)
def regulator_set_p_gain(ser, p_gain):
data = list(p_gain.to_bytes(2, byteorder='big'))
can_cmd.can_transmit(ser, msg_id=901, msg_len=2, msg_data=data)
def test_can_transmit(ser):
msg_id = 10
msg_data = [1, 2, 3, 4, 5]
msg_len = len(msg_data)
assert can_cmd.can_transmit(ser, msg_id, msg_len, msg_data) == 0