def find_controllers(self):
addressList = [0x80, 0x81, 0x82, 0x83, 0x84, 0x85, 0x86, 0x87]
controller_dictionary = {}
speed_factors = {}
counter = 0
for i in range(0, 20):
rc = Roboclaw(self.baseStr + str(i), self.rate)
if rc.Open() == 0:
for a in addressList:
if rc.GetConfig(a) != (0, 0):
controller_dictionary[a] = rc
speed_factors[a] = [1, 1, 1]
counter += 1
break
if counter == 3:
break
return controller_dictionary, speed_factors
from roboclaw import Roboclaw
rc = Roboclaw("/dev/ttyS3", 115200)
rc.Open()
rc.ReadVersion(0x80)
# This is the old API, use the new one below. rc.SetMinVoltageMainBattery(0x80, 110) # 11 Volts
rc.ReadMinMaxMainVoltages(0x80)
rc.SetMainVoltages(0x80, 110, 340) # Allowed range: 11 V - 34 V
rc.SetM1MaxCurrent(0x80, 500) # 5 Amps
rc.SetPWMMode(0x80, 0) # Locked Antiphase
#rc.ReadPWMMode(0x80)
rc.SetM1EncoderMode(0x80, 0) # No RC/Analog support + Quadrature encoder
#rc.ReadEncoderModes(0x80)
getConfig = rc.GetConfig(0x80)
config = getConfig[1] # index zero is 1 for success, 0 for failure.
config = config | 0x0003 # Packet serial mode
config = config | 0x8000 # Multi-Unit mode
rc.SetConfig(0x80, config)
rc.SetPinFunctions(0x80, 2, 0, 0) # S3 = E-Stop, S4 = Disabled, S5 = Disabled
rc.WriteNVM(0x80)
rc.ReadEncM1(0x80)
rc.ResetEncoders(0x80)
rc.ReadEncM1(0x80)
p = 15000
i = 1000
