def initCtrl(): min_id, max_id = 0, 20 ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id], timeout=0.05) for motor in ctrl.motors: motor.max_torque = 50 sys.stdout.flush() return ctrl
def init_ctrl(): """motors initialisation""" if len(sys.argv) == 2: min_id, max_id = int(sys.argv[0]), int(sys.argv[1]) else: min_id, max_id = 0, 26 ctrl = dyn.create_controller(verbose = True, motor_range = [min_id, max_id]) sys.stdout.flush() return ctrl
import env # only to debug local (not installed) pydyn version import sys import pydyn import pydyn.dynamixel as dyn mode = sys.argv[1] if len(sys.argv) == 2 else None if mode == 'deep': for bps in [1000000, 500000, 400000, 250000, 200000, 115200, 57600, 19200, 9600]: ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], timeout=50, baudrate=bps, start=False) ctrl.close() else: ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], timeout=50, start=False) ctrl.close()
motor_id[6], motor_id[7], motor_id[8])) print("\t\t |_____________|") print("\t\t\t %d" % motor_id[9]) print("\t\t\t %d" % motor_id[10]) print("\t\t\t %d" % motor_id[11]) elif line == "quit" or line == "": pass else: print("Unknown command") if __name__ == "__main__": spider = None ctrl = dyn.create_controller(verbose=False, timeout=0.5, motor_range=[0, 20]) spider = Spider(configLegs(ctrl.motors, simulator=False)) gamepadThread = GamepadHandler(spider) gamepadThread.daemon = True gamepadThread.start() terminalThread = TerminalThread(spider) terminalThread.daemon = True terminalThread.start() while True: time.sleep(1.0) spider.move(startNow=False)
import debugenv # only to debug local (not installed) pydyn version import sys, time import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose=True, motor_range=[11, 16], full_ram=True) time.sleep(3.0) print 'FPS (last 2s): {}'.format(ctrl.fps)
import debugenv # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn pydyn.enable_vrep() ctrl = dyn.create_controller(ip="127.0.0.1", motor_range=[0, 10], verbose=True)
import os, sys sys.path.insert(0, (os.path.join(os.getcwd(), '..'))) import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose=True, motor_range=(1, 50), timeout=20, enable_pyftdi=True) print ctrl.motors[0].mmem._memory_data
import debugenv # only to debug local (not installed) pydyn version import sys, time import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose = True, motor_range = [11, 16], full_ram = True) time.sleep(3.0) print 'FPS (last 2s): {}'.format(ctrl.fps)
import env # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose = True, motor_range = [0, 253], start = False) for m in ctrl.motors: print m.ram_desc()
import env # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], start=False) for m in ctrl.motors: print m.eeprom_desc()
import env # only to debug local (not installed) pydyn version import sys, time import pydyn.dynamixel as dyn if len(sys.argv) == 2: min_id, max_id = int(sys.argv[1]), int(sys.argv[1]) else: min_id, max_id = 0, 253 ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id]) print '\nMaking motor compliant... ', sys.stdout.flush() for m in ctrl.motors: m.compliant = True m.torque_limit = 0.0 ctrl.wait(2) print 'done' for m in ctrl.motors: print "{} compliant : {}".format(m, m.compliant)
import debugenv # only to debug local (not installed) pydyn version import pydyn import pydyn.dynamixel as dyn pydyn.enable_vrep() ctrl = dyn.create_controller(ip='127.0.0.1', motor_range=[0, 10], verbose=True)
import os, sys sys.path.insert(0, (os.path.join(os.getcwd(), '..'))) import pydyn.dynamixel as dyn ctrl = dyn.create_controller(verbose = True, motor_range=(1, 50), timeout=20, enable_pyftdi=True) print ctrl.motors[0].mmem._memory_data
import env # only to debug local (not installed) pydyn version import sys, time import pydyn.dynamixel as dyn if len(sys.argv) == 2: min_id, max_id = int(sys.argv[1]), int(sys.argv[1]) else: min_id, max_id = 0, 253 ctrl = dyn.create_controller(verbose=True, motor_range=[min_id, max_id]) print "\nMaking motor compliant... ", sys.stdout.flush() for m in ctrl.motors: m.compliant = True m.torque_limit = 0.0 ctrl.wait(2) print "done" for m in ctrl.motors: print "{} compliant : {}".format(m, m.compliant)
import env # only to debug local (not installed) pydyn version import sys import pydyn import pydyn.dynamixel as dyn mode = sys.argv[1] if len(sys.argv) == 2 else None if mode == 'deep': for bps in [ 1000000, 500000, 400000, 250000, 200000, 115200, 57600, 19200, 9600 ]: ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], timeout=50, baudrate=bps, start=False) ctrl.close() else: ctrl = dyn.create_controller(verbose=True, motor_range=[0, 253], timeout=50, start=False) ctrl.close()