def setUpClass(cls):
channel = guess_channel(bustype_hint=bustype)
can_bus: can.Bus = can.Bus(bustype=bustype, channel=channel)
iface: IFace = CAN(can_bus)
cls.tm = Tinymovr(node_id=1, iface=iface)
cls.tm.reset()
time.sleep(0.2)
def spawn_shell():
'''
Spawns the Tinymovr Studio IPython shell.
'''
version: str = pkg_resources.require("tinymovr")[0].version
arguments: Dict[str, str] = docopt(__doc__,
version=shell_name + ' ' + str(version))
logger = configure_logging()
num_parser = pynumparser.NumberSequence(limits=(0, 16))
node_ids = num_parser(arguments['--ids'])
bustype: str = arguments['--bustype']
channel: str = arguments['--chan']
bitrate: int = int(arguments['--bitrate'])
if channel == 'auto':
channel = guess_channel(bustype_hint=bustype)
can_bus: can.Bus = can.Bus(bustype=bustype,
channel=channel,
bitrate=bitrate)
iface: IFace = CAN(can_bus)
tms: Dict = {}
for node_id in node_ids:
try:
tm: UserWrapper = UserWrapper(node_id=node_id, iface=iface)
tm_name: str = base_name + str(node_id)
logger.info("Connected to " + tm_name)
tms[tm_name] = tm
except TimeoutError:
logger.info("Node " + str(node_id) + " timed out")
except IOError:
logger.error("Node " + str(node_id) +
" received abnormal message (possibly wrong ID?)")
if len(tms) == 0:
logger.error("No Tinymovr instances detected. Exiting shell...")
else:
tms_discovered: str = ", ".join(list(tms.keys()))
user_ns: Dict = {}
user_ns.update(tms)
user_ns["tms"] = list(tms.values())
user_ns["plot"] = plot
user_ns["ureg"] = get_registry()
print(shell_name + ' ' + str(version))
print("Discovered instances: " + tms_discovered)
print("Access Tinymovr instances as tmx, where x \
is the index starting from 1")
print("e.g. the first Tinymovr instance will be tm1.")
print("Instances are also available by index in the tms list.")
c = Config()
c.InteractiveShellApp.gui = 'tk'
c.TerminalIPythonApp.display_banner = False
IPython.start_ipython(argv=[], config=c, user_ns=user_ns)
logger.debug("Exiting shell...")
def main():
global tm1, tm2
channel = guess_channel(bustype_hint='slcan')
can_bus: can.Bus = can.Bus(bustype='slcan',
channel=channel,
bitrate=1000000)
iface: IFace = CAN(can_bus)
tm1 = Tinymovr(node_id=1, iface=iface)
tm2 = Tinymovr(node_id=2, iface=iface)
assert (tm1.motor_config.flags == 1)
assert (tm2.motor_config.flags == 1)
tm1.set_limits(200000, 15)
tm2.set_limits(200000, 15)
sleep(0.1)
tm1.current_control()
tm2.current_control()
sleep(0.1)
offset_1 = tm1.encoder_estimates.position
offset_2 = tm2.encoder_estimates.position
while True:
est_1 = tm1.encoder_estimates
est_2 = tm2.encoder_estimates
p_1 = est_1.position - offset_1
p_2 = est_2.position - offset_2
v_1 = est_1.velocity
v_2 = est_2.velocity
Iq_1 = (3e-3 * (p_2 - p_1) * (A / tick) + 5e-5 * (v_2 - v_1) *
(A * s / tick))
Iq_2 = (3e-3 * (p_1 - p_2) * (A / tick) + 5e-5 * (v_1 - v_2) *
(A * s / tick))
tm1.set_cur_setpoint(Iq_1)
tm2.set_cur_setpoint(Iq_2)
sleep(0.0001)
def main():
global tm1, tm2
channel = guess_channel(bustype_hint='slcan')
can_bus: can.Bus = can.Bus(bustype='slcan',
channel=channel,
bitrate=1000000)
iface: IFace = CAN(can_bus)
tm1 = Tinymovr(node_id=1, iface=iface)
tm2 = Tinymovr(node_id=2, iface=iface)
assert (tm1.motor_config.flags == 1)
assert (tm2.motor_config.flags == 1)
tm1.set_limits(300000, 25)
tm2.set_limits(300000, 25)
tm1.set_gains(280, 1.1e-4)
tm2.set_gains(280, 1.1e-4)
sleep(0.1)
tm1.position_control()
tm2.position_control()
sleep(0.1)
offset_1 = tm1.encoder_estimates.position
offset_2 = tm2.encoder_estimates.position
while True:
est_1 = tm1.encoder_estimates
est_2 = tm2.encoder_estimates
mean_pos = ((est_1.position - offset_1) +
(est_2.position - offset_2)) / 2.0
mean_vel = (est_1.velocity + est_2.velocity) / 2.0
tm1.set_pos_setpoint(mean_pos + offset_1, mean_vel, 0)
tm2.set_pos_setpoint(mean_pos + offset_2, mean_vel, 0)
sleep(0.0005)
def get_tm() -> Tinymovr:
can_bus: can.Bus = can.Bus(bustype=bustype, channel=channel)
iface: IFace = CAN(can_bus)
tm = Tinymovr(node_id=1, iface=iface)
tm.iface.bus.legacy_errors = True
return tm
def get_tm() -> Tinymovr:
can_bus: can.Bus = can.Bus(bustype=bustype, channel=channel)
iface: IFace = CAN(can_bus)
return Tinymovr(node_id=1, iface=iface)
font = pygame.font.SysFont(None, 48)
dt = 0.01
step = 1 * deg
period = 2 * s
current_threshold = 8.0 * A
sign = 0
ratio = 9
goon = True
position = 0 * deg
modepygame = 0
# channel = guess_channel(bustype_hint='slcan')
channel = '/dev/ttyS7'
can_bus = can.Bus(bustype='slcan', channel=channel, bitrate=1000000)
iface = CAN(can_bus)
tm = Tinymovr(node_id=1, iface=iface)
tm.set_limits(velocity=2000 * turn / min, current=8.0 * A)
tm.set_gains(position=100.0, velocity=0.0001)
tm.set_integrator_gains(velocity=0.001)
print(tm.motor_info)
print(tm.device_info)
print("ZERO")
position = tm.encoder_estimates.position
while goon:
for event in pygame.event.get():
if event.type == pygame.QUIT: