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)
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 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 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()
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 test_example2_hard(self):
"""Check the example 2 from the Dynamixel user guide: "Reading the
internal temperature of the Dynamixel actuator with an ID of 1"
(p.20).
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make the instruction packet (based on the example 2 of the
# Dynamixel user guide: "Reading the internal temperature of the
# Dynamixel actuator with an ID of 1" (p.20))
dynamixel_id = 1
data = (0x02, 0x2b, 0x01)
instruction_packet = Packet(dynamixel_id, data)
try:
serial_connection.send(instruction_packet)
except (TypeError, ValueError, StatusPacketError):
self.fail("Encountered an unexpected exception.")
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 test_example2_hard(self):
"""Check the example 2 from the Dynamixel user guide: "Reading the
internal temperature of the Dynamixel actuator with an ID of 1"
(p.20).
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make the instruction packet (based on the example 2 of the
# Dynamixel user guide: "Reading the internal temperature of the
# Dynamixel actuator with an ID of 1" (p.20))
dynamixel_id = 1
data = (0x02, 0x2b, 0x01)
instruction_packet = Packet(dynamixel_id, data)
try:
serial_connection.send(instruction_packet)
except (TypeError, ValueError, StatusPacketError):
self.fail("Encountered an unexpected exception.")
def readMotors():
serial_connection = Connection(port='/dev/ttyUSB0', baudrate=1000000)
t1 = serial_connection.get_control_table_tuple(1)
t2 = serial_connection.get_control_table_tuple(2)
t3 = serial_connection.get_control_table_tuple(3)
t4 = serial_connection.get_control_table_tuple(4)
return json.dumps([t1, t2, t3, t4])
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 connect():
"""
serial connection handling
"""
dxl2 = 2
connection = Connection(port="/dev/ttyACM0",
baudrate=1000000,
timeout=0.2,
waiting_time=0.02)
dxl1 = 1
connection.pretty_print_control_table(int(dxl1))
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 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 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 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 __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 connect(): #connection=Connection(port="/dev/ttyACM0", baudrate = 100000, timeout = 0.2, waiting_time = 0.02) """ serial connection handling """ dxl1=1 dxl2=2 cccombo = "" while cccombo == "" or None or Null or 0: try: connection.close() connection = Connection(port="/dev/ttyACM0", baudrate = 57600, timeout = 0.2, waiting_time= 0.02) cccombo+=(str(connection.pretty_print_control_table(dxl1) + str(connection.pretty_print_control_table(dxl2)))) except: pass return cccombo
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)
def connect():
print("connect function is running!")
try:
# flush the buffer of the connection and see if that allows it to reassert itself
#serial_connection.flush()
serial_connection = Connection(port="/dev/ttyAMA0", baudrate=57600)
print(str(serial_connection.ping(1)))
# try: # try first with default port name (ttyACM0) before trying elsewhere
# serial_connection = Connection(port="/dev/ttyAMA0", baudrate = 100000)
# except: # current "elsewhere" definition confined to sequential suffix numbers
# for x in range (0,99):
# location_string = "/dev/ttyAMA" + str(x)
# serial_connection = Connection (location_string, baudrate = 100000)
except SerialException: # if everything's f****d:
return "current generation of game-stopping error. Physically reset."
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():
# Parse options
parser = common_argument_parser(desc=main.__doc__)
args = parser.parse_args()
# Connect to the serial port
serial_connection = Connection(port='/dev/ttyS0',
baudrate=1000000,
timeout=0.01,
rpi_gpio=18)
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 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():
"""
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 *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 test_checksum_error(self):
"""Check that the "InstructionChecksumError" exception is raised when
the "checksum error" flag is ON in the StatusPacket's "error" byte.
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make a wrong instruction packet (based on the example 2 of the
# Dynamixel user guide: "Reading the internal temperature of the
# Dynamixel actuator with an ID of 1" (p.20))
packet = bytes((0xff, 0xff, 0x01, 0x04, 0x02, 0x2b, 0x01, 0))
# Send the wrong instruction packet and get the response
with self.assertRaises(InstructionChecksumError):
serial_connection.send(packet)
def test_checksum_error(self):
"""Check that the "InstructionChecksumError" exception is raised when
the "checksum error" flag is ON in the StatusPacket's "error" byte.
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make a wrong instruction packet (based on the example 2 of the
# Dynamixel user guide: "Reading the internal temperature of the
# Dynamixel actuator with an ID of 1" (p.20))
packet = bytes((0xff, 0xff, 0x01, 0x04, 0x02, 0x2b, 0x01, 0))
# Send the wrong instruction packet and get the response
with self.assertRaises(InstructionChecksumError):
serial_connection.send(packet)
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 test_range_error(self):
"""Check that the "RangeError" exception is raised when the
"range error" flag is ON in the StatusPacket's "error" byte.
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make a wrong instruction packet (set the LED byte in the control
# table)
dynamixel_id = 1
data = (0x03, 0x19, 0xff) # wrong parameter value (the last byte)
instruction_packet = Packet(dynamixel_id, data)
# Send the wrong instruction packet and get the response
with self.assertRaises(RangeError):
serial_connection.send(instruction_packet)
def test_range_error(self):
"""Check that the "RangeError" exception is raised when the
"range error" flag is ON in the StatusPacket's "error" byte.
This test requires to be connected to the Dynamixel number 1 using
port "/dev/ttyUSB0" at 57600 baud (thus it only works on Unix systems
with FTDI devices)."""
# Connect to the serial port
port = "/dev/ttyUSB0" # TODO
baudrate = 57600 # TODO
timeout = 0.1 # TODO
serial_connection = Connection(port, baudrate, timeout)
# Make a wrong instruction packet (set the LED byte in the control
# table)
dynamixel_id = 1
data = (0x03, 0x19, 0xff) # wrong parameter value (the last byte)
instruction_packet = Packet(dynamixel_id, data)
# Send the wrong instruction packet and get the response
with self.assertRaises(RangeError):
serial_connection.send(instruction_packet)
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 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 start(self):
"""Metode til at finde USB-porten, fx COM12 paa Win, ttyUSB0 paa linux"""
#sc = Connection(port="/dev/ttyUSB0", baudrate=57600)
sc = Connection(port="/dev/ttyUSB0", baudrate=1000000)
#sc = Connection(port="COM12", baudrate=1000000)
Emu.sc.flush()
class Emu():
"""Klasse til at kontrollere Dynamixel AX12 actuators"""
sc = Connection(port="/dev/ttyUSB0", baudrate=1000000)
# sc = Connection(port="COM12", baudrate=1000000)
def __init__(self):
pass
def start(self):
"""Metode til at finde USB-porten, fx COM12 paa Win, ttyUSB0 paa linux"""
#sc = Connection(port="/dev/ttyUSB0", baudrate=57600)
sc = Connection(port="/dev/ttyUSB0", baudrate=1000000)
#sc = Connection(port="COM12", baudrate=1000000)
Emu.sc.flush()
def scanUnits(self):
"""Scanner dynamixel motorer og returnere deres id'er i en liste"""
ids = Emu.sc.scan()
return ids
def getTuple(self, ID):
Emu.sc.flush()
tup = Emu.sc.get_control_table_tuple(ID)
return tup
def readDxl(self, ID):
"""Printer oplysninger motoren med ID"""
Emu.sc.flush()
Emu.sc.pretty_print_control_table(ID)
def jointMode(self, ID):
"""Skifter motoren med ID til joint mode"""
Emu.sc.set_cw_angle_limit(ID, 0, False)
Emu.sc.set_ccw_angle_limit(ID, 1023, False)
def wheelMode(self, ID):
"""Skifter motoren med ID til wheelmode"""
Emu.sc.set_ccw_angle_limit(ID, 0, False)
Emu.sc.set_cw_angle_limit(ID, 0, False)
def moveJoint(self, ID, position):
"""Flytter motoren med ID til position"""
Emu.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
Emu.sc.flush()
Emu.sc.goto(ID, 0, int(speed), degrees=False)
def stop(self):
"""Lukker forbindelsen gennem USB-porten til dynamixlerne"""
Emu.sc.close()
def getPos(self, ID):
"""Returnere motoren med ID's position"""
position = Emu.sc.get_present_position(ID, True)
return position
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()
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 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")
import time
#กำหนด ID ของมอเตอร์แต่ละตัว
motor_1 = 7
motor_2 = 11
motor_3 = 12
motor_4 = 13
motor_5 = 15
motor_6 = 18
#กำหนดความเร็วในการหมุนของ Motor (0 - 512)
speed = 100
try:
#ตั้งค่าการเชื่อต่อกับแขนกลผ่าน USB (Port ใช้ตาม DeviceManager, Baudrate = 1000000)
serial_connection = Connection(port="COM4", baudrate=1000000)
#หน่วงเวลาป้องกันระบบแฮ้ง
time.sleep(0.5)
print("\n\n********** ROBOT START **********\n\n")
except:
print("Please connect USB or Power ! :( ")
def connectDisable():
#ปิดการเชื่อมต่อ USB
serial_connection.close()
print("Dis-connected !!")
def grapOn(p6):
serial_connection.goto(motor_6, p6, speed=speed, degrees=True)
def open_port():
global serial_connection
# Connect to the serial port
serial_connection = Connection(port="COM3", baudrate=1000000)
