if(speed2[0]): print speed2[1] else: print "failed " rc.Open() address = 0x80 version = rc.ReadVersion(address) if version[0]==False: print "GETVERSION Failed" else: print repr(version[1]) while(1): rc.SpeedAccelDistanceM1(address,12000,12000,42000,1); rc.SpeedAccelDistanceM2(address,12000,-12000,42000,1); rc.SpeedAccelDistanceM1(address,12000,0,0,0); #distance travelled is v*v/2a = 12000*12000/2*48000 = 1500 rc.SpeedAccelDistanceM2(address,12000,0,0,0); #that makes the total move in one direction 48000 buffers = (0,0,0) while(buffers[1]!=0x80 and buffers[2]!=0x80): #Loop until distance command has completed print "Buffers: ", print buffers[1], print " ", print buffers[2] displayspeed(); buffers = rc.ReadBuffers(address); time.sleep(1) rc.SpeedAccelDistanceM1(address,48000,-12000,46500,1);
print speed2[1] else: print "failed " rc.Open() address = 0x80 version = rc.ReadVersion(address) if version[0] == False: print "GETVERSION Failed" else: print repr(version[1]) while (1): rc.SpeedAccelDistanceM1(address, 6000, 6000, 10000, 1) rc.SpeedAccelDistanceM2(address, 6000, -6000, 10000, 1) buffers = (0, 0, 0) while (buffers[1] != 0x80 and buffers[2] != 0x80): #Loop until distance command has completed displayspeed() buffers = rc.ReadBuffers(address) time.sleep(1) rc.SpeedAccelDistanceM1(address, 48000, -12000, 46500, 1) rc.SpeedAccelDistanceM2(address, 48000, 12000, 46500, 1) rc.SpeedAccelDistanceM1(address, 48000, 0, 0, 0) #distance travelled is v*v/2a = 12000*12000/2*48000 = 1500 rc.SpeedAccelDistanceM2(address, 48000, 0, 0, 0) #that makes the total move in one direction 48000