예제 #1
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);
	rc.SpeedAccelDistanceM2(address,48000,12000,46500,1);
예제 #2
0
    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
    buffers = (0, 0, 0)