class usb_vcp_tmcl_interface(tmcl_module_interface, tmcl_host_interface):
def __init__(self, port=0, data_rate=None, host_id=2, module_id=1, debug=False):
del data_rate
tmcl_module_interface.__init__(self, host_id, module_id, debug)
tmcl_host_interface.__init__(self, host_id, module_id, debug)
self.__vcp = USB_VCP(port)
self.__vcp.init()
self.__vcp.setinterrupt(-1)
def __enter__(self):
return self
def __exit__(self, exitType, value, traceback):
del exitType, value, traceback
self.close()
def close(self):
self.__vcp.setinterrupt(3)
self.__vcp.close()
return 0
def data_available(self, hostID, moduleID):
del hostID, moduleID
return self.__vcp.any()
def _send(self, hostID, moduleID, data):
del hostID, moduleID
self.__vcp.write(data)
def _recv(self, hostID, moduleID):
del hostID, moduleID
read = bytearray(0)
while(len(read) < 9):
read += self.__vcp.read(9)
if(not(read)):
read = bytearray(0)
return read
def printInfo(self):
pass
def enableDebug(self, enable):
self._debug = enable
@staticmethod
def supportsTMCL():
return True
@staticmethod
def supportsCANopen():
return False
@staticmethod
def available_ports():
return set([0])
class USB_Port:
def __init__(self):
self.usb_serial = USB_VCP()
self.recv_buf = bytearray(1)
# Disable Control-C on the USB serial port in case one comes in the
# data.
self.usb_serial.setinterrupt(-1)
def read_byte(self):
"""Reads a byte from the usb serial device."""
if self.usb_serial.any():
bytes_read = self.usb_serial.recv(self.recv_buf)
if bytes_read > 0:
return self.recv_buf[0]
def write(self, data):
"""Writes an entire packet to the serial port."""
self.usb_serial.write(data)
class USB_Port:
"""Implements a port which can be used to receive bioloid device commands
from a host.
"""
def __init__(self):
self.usb_serial = USB_VCP()
self.baud = 0
self.recv_buf = bytearray(1)
# Disable Control-C on the USB serail port in case one comes in the
# data.
self.usb_serial.setinterrupt(-1)
def any(self):
"""Returns a truthy value if characters are available to be read."""
return self.usb_serial.any()
def read_byte(self):
"""Reads a byte from the usb serial device.
This function will return None if no character was read within the
designated timeout.
The max Return Delay time is 254 x 2 usec = 508 usec (the
default is 500 usec). This represents the minimum time between
receiving a packet and sending a response.
"""
bytes_read = self.usb_serial.recv(self.recv_buf, timeout=2)
if bytes_read > 0:
return self.recv_buf[0]
def set_baud(self, baud):
"""Sets the baud rate. Note that for USB Serial, this is essentially
a no-op. We store the baud rate that was set, so that
"""
self.baud = baud
def write_packet(self, packet_data):
"""Writes an entire packet to the serial port."""
self.usb_serial.write(packet_data)
class USB_Port:
"""Implements a port which can be used to receive bioloid device commands
from a host.
"""
def __init__(self):
self.usb_serial = USB_VCP()
self.baud = 0
self.recv_buf = bytearray(1)
# Disable Control-C on the USB serail port in case one comes in the
# data.
self.usb_serial.setinterrupt(-1)
def any(self):
"""Returns a truthy value if characters are available to be read."""
return self.usb_serial.any()
def read_byte(self):
"""Reads a byte from the usb serial device.
This function will return None if no character was read within the
designated timeout.
The max Return Delay time is 254 x 2 usec = 508 usec (the
default is 500 usec). This represents the minimum time between
receiving a packet and sending a response.
"""
bytes_read = self.usb_serial.recv(self.recv_buf, timeout=2)
if bytes_read > 0:
return self.recv_buf[0]
def set_baud(self, baud):
"""Sets the baud rate. Note that for USB Serial, this is essentially
a no-op. We store the baud rate that was set, so that
"""
self.baud = baud
def write_packet(self, packet_data):
"""Writes an entire packet to the serial port."""
self.usb_serial.write(packet_data)
import utime, ustruct, pyb
import math
from array import array
from pyb import USB_VCP
usb = USB_VCP()
usb.setinterrupt(-1)
dac1 = pyb.DAC(pyb.Pin('X5'), bits=12)
dac2 = pyb.DAC(pyb.Pin('X6'), bits=12)
pwmGain = pyb.Pin('X1')
pwmSlew = pyb.Pin('X2')
pwmBias = pyb.Pin('X3')
tim2 = pyb.Timer(2, freq=10000)
tim5 = pyb.Timer(5, freq=1000000)
pwmBiasCh = tim5.channel(3, pyb.Timer.PWM, pin=pwmBias)
pwmGainCh = tim5.channel(1, pyb.Timer.PWM, pin=pwmGain)
pwmBiasCh.pulse_width_percent(50)
pwmSlewCh = tim2.channel(2, pyb.Timer.PWM, pin=pwmSlew)
amplitude, Stop = 999, True
frequency = 10000
duty = 10
while Stop:
cmd = usb.recv(4, timeout=5000)
usb.write(cmd)
if (cmd == b'strt'):
pyb.LED(1).on()
pyb.LED(2).off()
pyb.LED(3).off()
utime.sleep(1)
tim2 = pyb.Timer(2, freq=10000)
# USB serial example.
#
# WARNING:
# This script should NOT be run from the IDE or command line, it should be saved as main.py
# Note the following commented script shows how to receive the image from the host side.
import sensor, image, time, ustruct
from pyb import USB_VCP, LED
usb = USB_VCP()
led = LED(1)
sensor.reset() # Reset and initialize the sensor.
sensor.set_pixformat(sensor.RGB565) # Set pixel format to RGB565 (or GRAYSCALE)
sensor.set_framesize(sensor.QVGA) # Set frame size to QVGA (320x240)
sensor.skip_frames(time = 2000) # Wait for settings take effect.
usb.setinterrupt(3)
# input
while(True):
cmd = usb.recv(1, timeout=5000)
if (cmd == b'\x01'):
led.toggle()
for item in range(65, 91):
usb.write(ustruct.pack('<b', item))
else:
continue
