def initialize(self):
print("Attempting to initialize motor {}".format(self.identifier))
command = self.sync_client.write_registers(TARGET_SELECT, [0, 1, 1],
unit=self.address)
if command.isError():
self.initialized = False
else:
speed = Converter.convert_speed_to_steps(3000)
self.initialized = True
def get_current_status_values(self):
status = self.get_current_status()
formatted_status = {
"position": status.get("position"),
"speed": Converter.convert_steps_to_speed(status.get("speed")),
"torque": status.get("torque") / 1000,
"voltage": status.get("voltage") / 32767 * 28,
"current": status.get("current") / 32767 * 25,
"electronics_temp": status.get("electronics_temp") / 100,
"motor_temp": status.get("motor_temp") / 100,
"error": status.get("error")
}
return formatted_status
def change_current_speed(self, to_speed, with_acc):
assert self.initialized
set_acc = self.set_acceleration_value(with_acc)
set_dec = self.set_acceleration_value(with_acc)
if set_acc and set_dec:
steps = Converter.convert_speed_to_steps(to_speed)
mode = self.get_mode()
if mode == 21:
return self.set_max_speed(steps)
elif mode == 33:
return self.set_target(steps)
else:
return False
else:
return False
def get_max_acceleration_value(self):
steps = self.get_max_acceleration()
acc = Converter.convert_steps_to_acceleration(steps)
return acc
def get_max_speed_value(self):
steps = self.get_max_speed()
speed = Converter.convert_steps_to_speed(steps)
return speed
def change_max_speed(self, speed):
assert self.initialized
speed_units = Converter.convert_speed_to_steps(speed)
self.set_max_speed(speed_units)
def go_to(self, distance, speed, acceleration):
assert self.initialized
speed_units = Converter.convert_speed_to_steps(speed)
acc_units = Converter.convert_acceleration_to_steps(acceleration)
distance_units = Converter.convert_meters_to_steps(distance)
return self.go_to_position(distance_units, speed_units, acc_units)
def go(self, speed, acceleration):
assert self.initialized
speed_units = Converter.convert_speed_to_steps(speed)
acc_units = Converter.convert_acceleration_to_steps(acceleration)
return self.go_with_speed(speed_units, acc_units)
def set_acceleration_value(self, acceleration):
assert self.initialized
steps = Converter.convert_acceleration_to_steps(acceleration)
command = self.set_max_acceleration(steps)
return command
def get_current_speed_values(self):
steps = self.get_current_target()
speed = Converter.convert_steps_to_speed(steps)
return speed
from pymodbus.constants import Endian
from pymodbus.payload import BinaryPayloadBuilder
from conversions import Converter
from constants import *
from motor import Motor
Converter = Converter("traction", 1, wheel_size=0.03)
class Traction(Motor):
def __init__(self, identifier, address, sync_client, type):
Motor.__init__(self, identifier, address, sync_client)
self.initialized = False
if type == "left":
self.multiplier = -1
elif type == "right":
self.multiplier = 1
else:
self.multiplier = 1
self.current_speed = 0
def initialize(self):
print("Attempting to initialize {}".format(self.identifier))
builder = BinaryPayloadBuilder(byteorder=Endian.Big,
wordorder=Endian.Big)
builder.add_16bit_int(0)
builder.add_16bit_int(self.multiplier)
builder.add_16bit_int(1)
command = self.sync_client.write_registers(TARGET_SELECT,
builder.to_registers(),
unit=self.address)
def get_steering_speed(self):
command = self.sync_client.read_holding_registers(MOTOR_SPEED,
1,
unit=self.address)
speed = Converter.convert_steps_to_speed(command.registers[0])
return speed
def set_angle(self, angle):
assert isinstance(self.sync_client, ModbusSerialClient)
assert isinstance(angle, int)
position = Converter.convert_degrees_to_steps(angle)
command = self.go_to_position(position)
return command
def get_current_angle(self):
assert isinstance(self.sync_client, ModbusSerialClient)
position = self.get_position()
degrees = Converter.convert_steps_to_degrees(position)
return degrees
from pymodbus.client.sync import ModbusSerialClient
from conversions import Converter
from constants import *
from motor import Motor
Converter = Converter("servo", 1)
class Servo(Motor):
def __init__(self, identifier, address, sync_client):
assert isinstance(identifier, str)
assert isinstance(sync_client, ModbusSerialClient)
assert isinstance(address, int)
Motor.__init__(self, identifier, address, sync_client)
self.initialized = False
def initialize(self):
print("Attempting to initialize motor {}".format(self.identifier))
command = self.sync_client.write_registers(TARGET_SELECT, [0, 1, 1],
unit=self.address)
if command.isError():
self.initialized = False
else:
speed = Converter.convert_speed_to_steps(3000)
self.initialized = True
def get_current_angle(self):
assert isinstance(self.sync_client, ModbusSerialClient)
position = self.get_position()
degrees = Converter.convert_steps_to_degrees(position)
return degrees