def __init__(self):
self.current_publisher = rospy.Publisher('CurrentSensor/battery_current_draw', Float64, queue_size=10)
self._hz = rospy.get_param('~hz' , 50)
try:
"""
* Allocate a new Phidget Channel object
"""
ch = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
ch.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch.setOnCurrentChangeHandler(onCurrentChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
except:
pass
def __init__(self):
self.current_publisher = rospy.Publisher(
'CurrentSensor/battery_current_draw', Float64, queue_size=10)
self._hz = rospy.get_param('~hz', 50)
try:
"""
* Allocate a new Phidget Channel object
"""
ch = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch.setHubPort(channelInfo.hubPort)
ch.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch.setChannel(channelInfo.channel)
ch.setOnAttachHandler(onAttachHandler)
ch.setOnDetachHandler(onDetachHandler)
ch.setOnErrorHandler(onErrorHandler)
ch.setOnCurrentChangeHandler(onCurrentChangeHandler)
"""
* Open the channel with a timeout
"""
print("\nOpening and Waiting for Attachment...")
try:
ch.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch)
raise EndProgramSignal("Program Terminated: Open Failed")
except:
pass
class AxisFrame:
def __init__(self, master, initial_name, move_pos_text, move_neg_text,
serial_number, port, color, amp, vel):
frame = Frame(master, borderwidth=2, relief=SUNKEN, bg=color)
frame.pack()
self.master = master
self.frame_name = StringVar()
self.frame_name.set(initial_name)
self.fontType = "Comic Sans"
#Set the parameters for the axis
self.current_limit = amp #2 to 25A
self.max_velocity = vel #0 to 1
self.acceleration = 1 #0.1 to 100
self.invert = FALSE #TRUE or FALSE
self.axis_name = initial_name
self.move_pos_text = move_pos_text
self.move_neg_text = move_neg_text
self.current_text = StringVar()
self.jog_pos_btn = Button(frame, text=self.move_pos_text)
self.jog_neg_btn = Button(frame, text=self.move_neg_text)
self.configure_btn = Button(frame,
text="CONFIGURE",
font=(self.fontType, 6),
command=lambda: self.configure())
self.current = Entry(frame,
width=5,
state=DISABLED,
textvariable=self.current_text)
self.speed = Scale(frame,
orient=HORIZONTAL,
from_=0.01,
to=1,
resolution=.01,
bg=color,
label=" Axis Speed",
highlightthickness=0)
self.custom_label = Label(frame,
textvariable=self.frame_name,
font=(self.fontType, 14),
bg=color)
self.label = Label(frame, text=initial_name, bg=color)
self.speed.set(0.25)
frame.rowconfigure(0, minsize=30)
self.custom_label.grid(row=0, column=0, columnspan=2, sticky=S)
self.jog_pos_btn.grid(column=0, row=1, pady=10)
self.jog_neg_btn.grid(column=0, row=2, pady=10)
self.current.grid(column=0, row=3, pady=5)
self.speed.grid(column=0, row=4, padx=20)
self.configure_btn.grid(column=0, row=5, pady=5)
self.label.grid(column=0, row=6)
#Connect to Phidget Motor Driver
self.axis = DCMotor()
self.axis.setDeviceSerialNumber(serial_number)
self.axis.setIsHubPortDevice(False)
self.axis.setHubPort(port)
self.axis.setChannel(0)
self.axis.openWaitForAttachment(5000)
self.axis.setAcceleration(self.acceleration)
self.axis_current = CurrentInput()
self.axis_current.setDeviceSerialNumber(serial_number)
self.axis_current.setIsHubPortDevice(False)
self.axis_current.setHubPort(port)
self.axis_current.setChannel(0)
self.axis_current.openWaitForAttachment(5000)
self.axis_current.setDataInterval(200)
self.axis_current.setCurrentChangeTrigger(0.0)
self.update_current()
#Bind user button press of jog button to movement method
self.jog_pos_btn.bind('<ButtonPress-1>', lambda event: self.jog("+"))
self.jog_pos_btn.bind('<ButtonRelease-1>', lambda event: self.jog("0"))
self.jog_neg_btn.bind('<ButtonPress-1>', lambda event: self.jog("-"))
self.jog_neg_btn.bind('<ButtonRelease-1>', lambda event: self.jog("0"))
def jog(self, direction):
#Calculate the speed as a percentage of the maximum velocity
velocity = float(self.speed.get()) * self.max_velocity
#Apply invert if necessary
if self.invert == TRUE:
velocity *= -1
#Command Movement
if direction == "+":
self.axis.setTargetVelocity(velocity)
elif direction == "-":
self.axis.setTargetVelocity(-1 * velocity)
elif direction == "0":
self.axis.setTargetVelocity(0)
def update_current(self):
self.current_text.set(abs(round(self.axis_current.getCurrent(), 3)))
root.after(200, self.update_current)
def configure(self):
#current_limit, max_velocity, acceleration, invert
self.window = popupWindow(self.master, self.current_limit,
self.max_velocity, self.acceleration,
self.invert)
self.configure_btn.config(state=DISABLED)
self.master.wait_window(self.window.top)
self.configure_btn.config(state=NORMAL)
#Set the new parameters from the configuration window
self.current_limit = self.window.current_limit
self.max_velocity = self.window.max_velocity
self.acceleration = self.window.acceleration
self.invert = self.window.invert.get()
#Update Phidget parameters
self.axis.setCurrentLimit(self.current_limit)
self.axis.setAcceleration(self.acceleration)
C = 0
ACCEL = 2
#Line required to look for Phidget devices on the network
Net.enableServerDiscovery(PhidgetServerType.PHIDGETSERVER_DEVICEREMOTE)
if A:
# Motor A: Setup Motor Control and Motor Current
mtrA = DCMotor()
mtrA.setDeviceSerialNumber(534830)
mtrA.openWaitForAttachment(1000)
mtrA.setAcceleration(ACCEL)
aCur = CurrentInput()
aCur.setDeviceSerialNumber(534830)
aCur.openWaitForAttachment(1000)
if B:
# Motor B: Setup Motor Control and Motor Current
mtrB = DCMotor()
mtrB.setDeviceSerialNumber(465371)
mtrB.openWaitForAttachment(1000)
mtrB.setAcceleration(ACCEL)
bCur = CurrentInput()
bCur.setDeviceSerialNumber(465371)
bCur.openWaitForAttachment(1000)
if C:
# Motor C: Setup Motor Control and Motor Current
def __init__(self):
self.motor_current_publisher = rospy.Publisher('phidgetsensor/motor_current_draw', Float64, queue_size=10)
self.voltage_publisher = rospy.Publisher('phidgetsensor/battery_voltage' , Float64, queue_size=10)
self.battery_current_publisher = rospy.Publisher('phidgetsensor/battery_current_draw', Float64, queue_size=10)
self._hz = 10
#Channel 1 will be the motor_current_draw
ch1 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnCurrentChangeHandler(self.onCurrentChangeHandler_m)
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open ch1 failed")
#channel 2 will be the battery voltage
ch2 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch2.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch2.setHubPort(channelInfo.hubPort)
ch2.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch2.setChannel(channelInfo.channel)
ch2.setOnAttachHandler(self.onAttachHandler)
ch2.setOnDetachHandler(self.onDetachHandler)
ch2.setOnErrorHandler(self.onErrorHandler)
ch2.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open ch2 failed")
#channel 3 will be the battery current
ch3 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch3.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch3.setHubPort(channelInfo.hubPort)
ch3.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch3.setChannel(channelInfo.channel)
ch3.setOnAttachHandler(self.onAttachHandler)
ch3.setOnDetachHandler(self.onDetachHandler)
ch3.setOnErrorHandler(self.onErrorHandler)
ch3.setOnCurrentChangeHandler(self.onCurrentChangeHandler_b)
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open ch3 failed")
"""
Name: Ori Shadmon
description: code for Spatial sensors (Acceleration, Gyroscope, Magnometer)
URL: https://www.phidgets.com/?tier=3&catid=10&pcid=8&prodid=975
"""
import time
from Phidget22.Devices.CurrentInput import *
from Phidget22.PhidgetException import *
from Phidget22.Phidget import *
from Phidget22.Net import *
ch = CurrentInput()
ch.setDeviceSerialNumber(561266)
ch.setHubPort(3)
ch.setIsHubPortDevice(False)
ch.setChannel(0)
ch.openWaitForAttachment(5000)
try:
ch.getCurrent()
except Exception as e:
pass
time.sleep(2)
print(ch.getCurrent())
def __init__(self):
self.motor_current_publisher = rospy.Publisher(
'phidgetsensor/motor_current_draw', Float64, queue_size=10)
self.voltage_publisher = rospy.Publisher(
'phidgetsensor/battery_voltage', Float64, queue_size=10)
self.battery_current_publisher = rospy.Publisher(
'phidgetsensor/battery_current_draw', Float64, queue_size=10)
self._hz = 10
#Channel 1 will be the motor_current_draw
ch1 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 2
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch1.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch1.setHubPort(channelInfo.hubPort)
ch1.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch1.setChannel(channelInfo.channel)
ch1.setOnAttachHandler(self.onAttachHandler)
ch1.setOnDetachHandler(self.onDetachHandler)
ch1.setOnErrorHandler(self.onErrorHandler)
ch1.setOnCurrentChangeHandler(self.onCurrentChangeHandler_m)
try:
ch1.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch1)
raise EndProgramSignal("Program Terminated: Open ch1 failed")
#channel 2 will be the battery voltage
ch2 = VoltageInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 1
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch2.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch2.setHubPort(channelInfo.hubPort)
ch2.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch2.setChannel(channelInfo.channel)
ch2.setOnAttachHandler(self.onAttachHandler)
ch2.setOnDetachHandler(self.onDetachHandler)
ch2.setOnErrorHandler(self.onErrorHandler)
ch2.setOnVoltageChangeHandler(self.onVoltageChangeHandler)
try:
ch2.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch2)
raise EndProgramSignal("Program Terminated: Open ch2 failed")
#channel 3 will be the battery current
ch3 = CurrentInput()
channelInfo = ChannelInfo()
channelInfo.deviceSerialNumber = 539331
channelInfo.hubPort = 0
channelInfo.isHubPortDevice = 0
channelInfo.channel = 0
ch3.setDeviceSerialNumber(channelInfo.deviceSerialNumber)
ch3.setHubPort(channelInfo.hubPort)
ch3.setIsHubPortDevice(channelInfo.isHubPortDevice)
ch3.setChannel(channelInfo.channel)
ch3.setOnAttachHandler(self.onAttachHandler)
ch3.setOnDetachHandler(self.onDetachHandler)
ch3.setOnErrorHandler(self.onErrorHandler)
ch3.setOnCurrentChangeHandler(self.onCurrentChangeHandler_b)
try:
ch3.openWaitForAttachment(5000)
except PhidgetException as e:
PrintOpenErrorMessage(e, ch3)
raise EndProgramSignal("Program Terminated: Open ch3 failed")