def gripperDisableServos(can):
print "gripperDisableServos() called"
writer = WriteSDO( 0x7F, 0x2100, 1, [0x0] ) # disable servos
for cmd in writer.generator():
if cmd:
can.sendData( *cmd )
writer.update( can.readPacket() )
reader = ReadSDO( 0x7F, 0x2100, 1 )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "RESULT DATA (after):", reader.result
def setup_faster_update(can):
reader = ReadSDO(1, 0x1801, 5)
for packet in reader.generator():
if packet != None:
can.sendData(*packet)
reader.update(can.readPacket())
print "RESULT DATA (before):", reader.result
writer = WriteSDO(1, 0x1801, 5, [50, 0])
for cmd in writer.generator():
if cmd:
can.sendData(*cmd)
writer.update(can.readPacket())
for packet in reader.generator():
if packet != None:
can.sendData(*packet)
reader.update(can.readPacket())
print "RESULT DATA (after):", reader.result
def setup_faster_update(can):
reader = ReadSDO( 1, 0x1801, 5 )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "RESULT DATA (before):", reader.result
writer = WriteSDO( 1, 0x1801, 5, [5, 0] )
for cmd in writer.generator():
if cmd:
can.sendData( *cmd )
writer.update( can.readPacket() )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "RESULT DATA (after):", reader.result
def setupHandModule( can ):
reader = ReadSDO( 12, 0x1801, 5 )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "RESUT DATA (before):", reader.result
# writer = WriteSDO( 12, 0x1801, 2, [1] )
writer = WriteSDO( 12, 0x1801, 5, [50, 0] )
for cmd in writer.generator():
if cmd:
can.sendData( *cmd )
writer.update( can.readPacket() )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "RESUT DATA (after):", reader.result
reader = ReadSDO( 12, 0x2100, 1 )
for packet in reader.generator():
if packet != None:
can.sendData( *packet )
reader.update( can.readPacket() )
print "Function Select, 8bit channel status:", reader.result
"""
def setupHandModule(can):
reader = ReadSDO(12, 0x1801, 5)
for packet in reader.generator():
if packet != None:
can.sendData(*packet)
reader.update(can.readPacket())
print "RESUT DATA (before):", reader.result
# writer = WriteSDO( 12, 0x1801, 2, [1] )
writer = WriteSDO(12, 0x1801, 5, [50, 0])
for cmd in writer.generator():
if cmd:
can.sendData(*cmd)
writer.update(can.readPacket())
for packet in reader.generator():
if packet != None:
can.sendData(*packet)
reader.update(can.readPacket())
print "RESUT DATA (after):", reader.result
reader = ReadSDO(12, 0x2100, 1)
for packet in reader.generator():
if packet != None:
can.sendData(*packet)
reader.update(can.readPacket())
print "Function Select, 8bit channel status:", reader.result
"""
