def test_kinmotor_ctrl(self):
_m13 = kinmotor.KinMotor('AX-12', 13)
_m17 = kinmotor.KinMotor('AX-12', 17)
c = kinio.KinCable(_m13.ports[1], _m17.ports[0])
self.kio.connect(_m13.ports[0])
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
ctrl.start()
for motor in ctrl.motors:
motor.angle_limits = (-150, 150)
motor.max_torque = 50
motor.status_return_level = 1
motor.torque_limit = 50
sleep = 0.2
for motor in ctrl.motors:
motor.position = -10
time.sleep(sleep)
for motor in ctrl.motors:
self.assertTrue(-10.2 <= motor.position <= -9.8)
motor.position = 10
time.sleep(sleep)
for motor in ctrl.motors:
self.assertTrue(9.8 <= motor.position <= 10.2)
ctrl.close()
def setUp(self):
self.mcom = fakecom.FakeCom()
self.mcom._add_motor(3, 'AX-12')
self.mcom._add_motor(17, 'AX-12')
self.ctrl = controller.DynamixelController(self.mcom)
mids = self.ctrl.discover_motors(verbose=False)
self.ctrl.load_motors(mids)
self.ctrl.start()
def test_copy_motor(self):
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
with self.assertRaises(RuntimeError):
m = copy.copy(ctrl.motors[0])
with self.assertRaises(RuntimeError):
m = copy.deepcopy(ctrl.motors[0])
def test_kinmotor_discover(self):
m13 = kinmotor.KinMotor('AX-12', 13)
m17 = kinmotor.KinMotor('AX-12', 17)
c = kinio.KinCable(m13.ports[1], m17.ports[0])
self.kio.connect(m13.ports[0])
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
self.assertEqual(len(mids), 2)
self.assertEqual(set(mids), set([13, 17]))
def setUp(self):
self.kio = kinio.KinSerial()
self.mcom = serialcom.SerialCom(self.kio)
m13 = kinmotor.KinMotor('AX-12', 13)
m17 = kinmotor.KinMotor('AX-12', 17)
c = kinio.KinCable(m13.ports[1], m17.ports[0])
self.kio.connect(m13.ports[0])
self.ctrl = controller.DynamixelController(self.mcom)
mids = self.ctrl.discover_motors(verbose=False)
self.ctrl.load_motors(mids)
self.ctrl.start()
def test_setattr(self):
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
m = ctrl.motors[0]
with self.assertRaises(AttributeError):
m.does_not_exists = 312
m.cw_angle_limit = 40
m.compliant = False
def test_kinmotor_ctrl(self):
m13 = kinmotor.KinMotor('AX-12', 13)
m17 = kinmotor.KinMotor('AX-12', 17)
c = kinio.KinCable(m13.ports[1], m17.ports[0])
self.kio.connect(m13.ports[0])
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
ctrl.start()
time.sleep(0.3)
ctrl.close()
def test_sync_motor(self):
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
ctrl.start()
m = ctrl.motors[0]
m.goal_position_bytes = 312
time.sleep(0.1)
self.assertEqual(m.goal_position_bytes, 312)
self.assertEqual(m.present_position, m.position)
ctrl.stop()
def test_motor(self):
"""DynamixelController"""
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
ctrl.start()
m = ctrl.motors[0]
time.sleep(0.1)
# position checks
m.goal_position = 0
time.sleep(0.1)
self.assertEqual(m.goal_position_bytes, 512)
def test_motor(self):
"""DynamixelController"""
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)
m = ctrl.motors[0]
# position checks
m.goal_position_bytes = 0
m.goal_position_bytes
m.present_position_bytes
with self.assertRaises(AttributeError):
m.present_position_bytes = 0
with self.assertRaises(ValueError):
m.goal_position_bytes = 1024
with self.assertRaises(ValueError):
m.goal_position_bytes = -1
with self.assertRaises(ValueError):
m.max_torque_bytes = 1.3
def test_ctrl(self):
"""DynamixelController"""
ctrl = controller.DynamixelController(self.mcom)
mids = ctrl.discover_motors(verbose=False)
ctrl.load_motors(mids)