def __init__(self, motornum, motorname):
self.sernum = motornum
self.motorName = motorname
self.mc = MotorControl()
try:
self.mc.openPhidget(self.sernum)
self.mc.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
self.motorstate_d = {
'motor': 0,
'serial': self.sernum,
'state': 0,
'velocity': 0,
'ticks': 0
}
self.motordata = Int32MultiArray()
self.motordata.layout.dim = [MultiArrayDimension('motor_state', 4, 1)]
self.motordata.data = self.motorstate_d.values()
self.rsp = rospy.Publisher('phidget_motor_state',
Int32MultiArray,
queue_size=10)
rospy.init_node('aux_motor_ctl', anonymous=True)
rospy.on_shutdown(self.shutdown)
robotrate = 10
r = rospy.Rate(robotrate)
def __openMot(self):
try:
self._motorControl = MotorControl()
except RuntimeError as e:
print("Motor Control - Runtime Exception: %s" % e.details)
return False
try:
self._motorControl.setOnAttachHandler(self.__onAttachedMot)
self._motorControl.setOnDetachHandler(self.__onDetachedMot)
self._motorControl.setOnErrorhandler(self.__onErrorMot)
self._motorControl.setOnCurrentChangeHandler(
self.__onCurrentChangedMot)
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" %
(e.code, e.details))
return False
try:
self._motorControl.openPhidget()
except PhidgetException as e:
print("Motor Control - Phidget Exception %i: %s" %
(e.code, e.details))
return False
self._openMot = True
return True
def setupMoveService():
"""Initialize the DriveMotors service
Establish a connection with the Phidget HC Motor Control and
then with the ROS Master as the service DriveMotors
"""
global motorControl, minAcceleration, maxAcceleration
try:
motorControl = MotorControl()
except:
rospy.logerr("Unable to connect to Phidget HC Motor Control")
return
try:
motorControl.setOnAttachHandler(mcAttached)
motorControl.setOnDetachHandler(mcDetached)
motorControl.setOnErrorhandler(mcError)
motorControl.setOnCurrentChangeHandler(mcCurrentChanged)
motorControl.setOnInputChangeHandler(mcInputChanged)
motorControl.setOnVelocityChangeHandler(mcVelocityChanged)
except:
rospy.logerr("Unable to register the handlers")
return
try:
motorControl.openPhidget()
except PhidgetException as e:
rospy.logerr("Fail to openPhidget() %i: %s", e.code, e.details)
return
try:
motorControl.waitForAttach(10000)
except PhidgetException as e:
rospy.logerr("Fail to attach to Phidget %i: %s", e.code, e.details)
return
if motorControl.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",
motorControl.getDeviceName(),
motorControl.getSerialNum(),
motorControl.getDeviceVersion())
minAcceleration = motorControl.getAccelerationMin(leftWheels)
maxAcceleration = motorControl.getAccelerationMax(leftWheels)
rospy.init_node('DriveMotors', log_level=rospy.DEBUG)
phidgetMotorService = rospy.Service('DriveMotors', Move, move)
rospy.spin()
def _BuildPhidgetsMotorController(serial_number):
#Create an motorcontrol object
try:
motorControl = MotorControl()
motorControl.setOnErrorhandler(motorControlError)
motorControl.openPhidget(serial_number)
motorControl.waitForAttach(10000)
print("Serial number: %i" % motorControl.getSerialNum())
return motorControl
except RuntimeError as e:
motorControl.closePhidget()
print("Runtime Exception: %s" % e.details)
return None
def setupMoveService():
"""Initialize the PhidgetMotor service
Establish a connection with the Phidget HC Motor Control and
then with the ROS Master as the service PhidgetMotor
"""
node_name = 'PhidgetMotor'
rospy.init_node(node_name, log_level=rospy.DEBUG)
serial_no = rospy.get_param("~serial_no", 0)
if not serial_no == 0:
rospy.loginfo("Using motor controller with serial number %d",
serial_no)
else:
rospy.loginfo(
"No serial number specified. This is fine for systems with one controller, but may behave unpredictably for systems with multiple motor controllers"
)
global motorControl, motorControlRight, minAcceleration, maxAcceleration, timer, motors_inverted, phidget1065, rightWheels, posdataPub
timer = 0
try:
motorControl = MotorControl()
except:
rospy.logerr("Unable to connect to Phidget HC Motor Control")
return
try:
motorControl.setOnAttachHandler(mcAttached)
motorControl.setOnDetachHandler(mcDetached)
motorControl.setOnErrorhandler(mcError)
motorControl.setOnCurrentChangeHandler(mcCurrentChanged)
motorControl.setOnInputChangeHandler(mcInputChanged)
motorControl.setOnVelocityChangeHandler(mcVelocityChanged)
if serial_no != 0:
motorControl.openPhidget(serial_no)
else:
motorControl.openPhidget()
#attach the board
motorControl.waitForAttach(10000)
"""use the function getMotorCount() to know how many motors the Phidget board can take
if the result is more than 1, we have a 1064 board and we take care of both motors with one motorControl variable. The corobot_phidgetIK handles the Phidget encoder board that is
separated of the phidget 1064.
if the result is equal to 1, we have two phidget 1065 boards. The one with serial number that is the lowest will be the left will, the other the right weel. The encoder has to be handled
in this file as it is part of the 1065 board.
"""
if motorControl.getMotorCount() == 1:
phidget1065 = True
rightWheels = 0
motorControlRight.setOnAttachHandler(mcAttached)
motorControlRight.setOnDetachHandler(mcDetached)
motorControlRight.setOnErrorhandler(mcError)
motorControlRight.setOnCurrentChangeHandler(mcCurrentChanged)
motorControlRight.setOnInputChangeHandler(mcInputChanged)
motorControlRight.setOnVelocityChangeHandler(mcVelocityChanged)
if motorControl.getSerialNum() > motorControlRight.getSerialNum():
""" As a rule, we need the serial number of the left board to be lower than for the right board. This is for consistancy for all the robots
"""
motorControlTemp = motorControl
motorControl = motorControlRight
motorControlRight = motorControlTemp
#Set up the encoders handler
motorControl.setOnPositionUpdateHandler(leftEncoderUpdated)
motorControlRight.setOnPositionUpdateHandler(rightEncoderUpdated)
#attach the board
motorControlRight.waitForAttach(10000)
except PhidgetException as e:
rospy.logerr("Unable to register the handlers: %i: %s", e.code,
e.details)
return
except AttributeError as e:
rospy.logerr("Unable to register the handlers: %s", e)
return
except:
rospy.logerr("Unable to register the handlers: %s", sys.exc_info()[0])
return
if motorControl.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",
motorControl.getDeviceName(),
motorControl.getSerialNum(),
motorControl.getDeviceVersion())
if phidget1065 == True:
if motorControlRight.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",
motorControlRight.getDeviceName(),
motorControlRight.getSerialNum(),
motorControlRight.getDeviceVersion())
minAcceleration = motorControl.getAccelerationMin(leftWheels)
maxAcceleration = motorControl.getAccelerationMax(leftWheels)
motors_inverted = rospy.get_param('~motors_inverted', False)
phidgetMotorTopic = rospy.Subscriber(node_name, MotorCommand, move)
phidgetMotorService = rospy.Service(node_name, Move, move)
if phidget1065 == True:
posdataPub = rospy.Publisher("position_data", PosMsg)
rospy.spin()
__version__ = '2.1.8'
__date__ = 'May 17 2010'
#Basic imports
from ctypes import *
import sys
#Phidget specific imports
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import AttachEventArgs, DetachEventArgs, ErrorEventArgs, CurrentChangeEventArgs, InputChangeEventArgs, VelocityChangeEventArgs
from Phidgets.Devices.MotorControl import MotorControl
#import methods for sleeping thread
from time import sleep
#Create an motorcontrol object
try:
motorControl = MotorControl()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def displayDeviceInfo():
print(
"|------------|----------------------------------|--------------|------------|"
)
print(
"|- Attached -|- Type -|- Serial No. -|- Version -|"
)
print(
def setupMoveService():
"""Initialize the PhidgetLinear service
Establish a connection with the Phidget 1065 Motor Control and
then with the ROS Master as the service PhidgetLinear
"""
rospy.init_node('PhidgetLinear', log_level=rospy.DEBUG)
serial_no = rospy.get_param("~serial_no", 0)
if not serial_no == 0:
rospy.loginfo("Using motor controller with serial number %d",
serial_no)
else:
rospy.loginfo(
"No serial number specified. This is fine for systems with one controller, but may behave unpredictably for systems with multiple motor controllers"
)
global motorControl, minAcceleration, maxAcceleration, timer, invert_speed, posdataPub
timer = 0
try:
motorControl = MotorControl()
except:
rospy.logerr("Unable to connect to Phidget Motor Control")
return
try:
motorControl.setOnAttachHandler(mcAttached)
motorControl.setOnDetachHandler(mcDetached)
motorControl.setOnErrorhandler(mcError)
motorControl.setOnCurrentChangeHandler(mcCurrentChanged)
motorControl.setOnInputChangeHandler(mcInputChanged)
motorControl.setOnVelocityChangeHandler(mcVelocityChanged)
motorControl.setOnSensorUpdateHandler(mcSensorUpdated)
if serial_no != 0:
motorControl.openPhidget(serial_no)
else:
motorControl.openPhidget()
#attach the board
motorControl.waitForAttach(10000)
except PhidgetException as e:
rospy.logerr("Unable to register the handlers: %i: %s", e.code,
e.details)
return
except AttributeError as e:
rospy.logerr("Unable to register the handlers: %s", e)
return
except:
rospy.logerr("Unable to register the handlers: %s", sys.exc_info()[0])
return
if motorControl.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",
motorControl.getDeviceName(),
motorControl.getSerialNum(),
motorControl.getDeviceVersion())
# ensure the motor controller attempts to brake the linear
# when velocity is cut to 0
motorControl.setBraking(linear, 100)
# print motorControl.getBraking(linear)
minAcceleration = motorControl.getAccelerationMin(linear)
maxAcceleration = motorControl.getAccelerationMax(linear)
invert_speed = rospy.get_param('~invert_speed', False)
maxPos = rospy.get_param('~max_pos', 1014)
minPos = rospy.get_param('~min_pos', 10)
phidgetMotorTopic = rospy.Subscriber("PhidgetLinear", LinearCommand, move)
phidgetMotorService = rospy.Service('PhidgetLinear', Move, move)
posdataPub = rospy.Publisher("position", UInt32, latch=True)
rospy.spin()
def initMotorAndEncoderBoards():
global motorControl, motorControlRight, rightWheels, phidget1065, encoders, leftEncoderPosition, rightEncoderPosition, motors_inverted, encoders_inverted
try:
motorControl = MotorControl()
except:
rospy.logerr("Unable to connect to Phidget HC Motor Control")
return
try:
motorControl.setOnAttachHandler(mcAttached)
motorControl.setOnErrorhandler(mcError)
motorControl.setOnVelocityChangeHandler(mcVelocityChanged)
motorControl.openPhidget()
#attach the board
motorControl.waitForAttach(10000)
"""use the function getMotorCount() to know how many motors the Phidget board can take
if the result is more than 1, we have a 1064 board and we take care of both motors with one motorControl variable. We need to handle the Phidget encoder board that is
separated from the phidget 1064.
if the result is equal to 1, we have two phidget 1065 boards. The one with serial number that is the lowest will be the left will, the other the right weel. The encoder has to be handled
in this file as it is part of the 1065 board.
"""
if motorControl.getMotorCount() == 1:
phidget1065 = True
rightWheels = 0
motorControlRight = MotorControl()
motorControlRight.setOnAttachHandler(mcAttached)
motorControlRight.setOnErrorhandler(mcError)
motorControlRight.setOnVelocityChangeHandler(mcVelocityChanged)
if motorControl.getSerialNum() > motorControlRight.getSerialNum():
""" As a rule, we need the serial number of the left board to be lower than for the right board. This is for consistancy for all the robots
"""
motorControlTemp = motorControl
motorControl = motorControlRight
motorControlRight = motorControlTemp
#Set up the encoders handler
motorControl.setOnPositionUpdateHandler(leftEncoderUpdated)
motorControlRight.setOnPositionUpdateHandler(rightEncoderUpdated)
#attach the board
motorControlRight.openPhidget()
motorControlRight.waitForAttach(10000)
# we have a motor controller board that control 2 motors but doesn't get any encoder input, so we need to initialize the encoder board.
else:
encoders = Encoder()
encoders.setOnPositionChangeHandler(encoderBoardPositionChange)
encoders.openPhidget()
encoders.waitForAttach(10000)
# some robots have the left and right encoders switched by mistake
if(motors_inverted or encoders_inverted):
leftEncoderPosition = 1;
rightEncoderPosition = 0;
encoders.setEnabled(leftEncoderPosition, True)
encoders.setEnabled(rightEncoderPosition, True)
except PhidgetException as e:
motorsError = 1
encodersError = 1
rospy.logerr("Unable to initialize the motors and encoders board: %i: %s", e.code, e.details)
return
except:
motorsError = 1
encodersError = 1
rospy.logerr("Unable to register the motors and encoders board")
return
if motorControl.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",motorControl.getDeviceName(),motorControl.getSerialNum(),motorControl.getDeviceVersion())
if phidget1065 == True:
if motorControlRight.isAttached():
rospy.loginfo("Device: %s, Serial: %d, Version: %d",motorControlRight.getDeviceName(),motorControlRight.getSerialNum(),motorControlRight.getDeviceVersion())
else:
rospy.loginfo("Device: %s, Serial: %d, Version: %d",encoders.getDeviceName(),encoders.getSerialNum(),encoders.getDeviceVersion())
if stop_when_obstacle:
timer = Timer(1.0, checkEncoders)
timer.start()
return
__author__ = 'Cameron Rodda'
__version__ = '0.0.1'
__date__ = '21 August 2013'
import commands
import zmq
import time
from ctypes import *
import sys
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import AttachEventArgs, DetachEventArgs, ErrorEventArgs, CurrentChangeEventArgs, InputChangeEventArgs, VelocityChangeEventArgs
from Phidgets.Devices.MotorControl import MotorControl
#Create a motor control object
try:
mcL = MotorControl() # Left Motor
mcR = MotorControl() # Right Motor
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
try:
#mcL.openPhidget(serial=298857)
#mcR.openPhidget(serial=298856)
mcL.openRemote('odroid', serial=298857)
mcR.openRemote('odroid', serial=298856)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
def AttachMotorControl(databasepath, serialNumber):
def onAttachHandler(event):
logString = "MotorControl Attached " + str(event.device.getSerialNum())
#print(logString)
DisplayAttachedDeviceInfo(event.device)
def onDetachHandler(event):
logString = "MotorControl Detached " + str(event.device.getSerialNum())
#print(logString)
DisplayDetachedDeviceInfo(event.device)
event.device.closePhidget()
def onErrorHandler(event):
logString = "MotorControl Error " + str(event.device.getSerialNum()) + ", Error: " + event.description
print(logString)
DisplayErrorDeviceInfo(event.device)
def onServerConnectHandler(event):
logString = "MotorControl Server Connect " + str(event.device.getSerialNum())
#print(logString)
def onServerDisconnectHandler(event):
logString = "MotorControl Server Disconnect " + str(event.device.getSerialNum())
#print(logString)
def backEMFUpdateHandler(event):
logString = "MotorControl BackEMF Update"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_BACKEMFUPDATE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.voltage))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def currentChangeHandler(event):
logString = "MotorControl Current Change"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_CURRENTCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.current))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def currentUpdateHandler(event):
logString = "MotorControl Current Update"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_CURRENTUPDATE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.current))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def inputChangeHandler(event):
logString = "MotorControl Input Change"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_INPUTCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.state))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def positionChangeHandler(event):
logString = "MotorControl Position Change"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_POSITIONCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.current))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def positionUpdateHandler(event):
logString = "MotorControl Position Update"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_POSITIONUPDATE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def sensorUpdateHandler(event):
logString = "MotorControl Sensor Update"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
#conn.execute("INSERT INTO MOTORCONTROL_SENSORUPDATE VALUES(NULL, DateTime('now'), ?, ?, ?)",
#(event.device.getSerialNum(), event.index, event.value))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def velocityChangeHandler(event):
logString = "MotorControl Velocity Change"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute("INSERT INTO MOTORCONTROL_VELOCITYCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.velocity))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
try:
p = MotorControl()
p.setOnAttachHandler(onAttachHandler)
p.setOnDetachHandler(onDetachHandler)
p.setOnErrorhandler(onErrorHandler)
p.setOnServerConnectHandler(onServerConnectHandler)
p.setOnServerDisconnectHandler(onServerDisconnectHandler)
p.setOnBackEMFUpdateHandler (backEMFUpdateHandler)
p.setOnCurrentChangeHandler (currentChangeHandler)
p.setOnCurrentUpdateHandler (currentUpdateHandler)
p.setOnInputChangeHandler (inputChangeHandler)
p.setOnPositionChangeHandler(positionChangeHandler)
p.setOnPositionUpdateHandler(positionUpdateHandler)
p.setOnSensorUpdateHandler (sensorUpdateHandler)
p.setOnVelocityChangeHandler(velocityChangeHandler)
p.openPhidget(serialNumber)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting...")
exit(1)
#!/usr/bin/env python
from time import sleep # Wait between commands
import threading # Multi threading
from Phidgets.Devices.MotorControl import MotorControl # Motor control
from Phidgets.Devices.AdvancedServo import AdvancedServo # Servo control
from Phidgets.Devices.Servo import ServoTypes # Servo type setting
import pygame # General Pygame imports
from pygame import init as startPygame # Initialize imported Pygame modules
from pygame import joystick, locals # Logitech attack 3 joystick support
import tornado.web # Tornado web framework
import tornado.ioloop # I/O event loop for non-blocking sockets
import tornado.websocket # Bi directional messages from server (this) to client (webpage)
# Motors and servo control boards
m1 = MotorControl()
m2 = MotorControl()
m3 = MotorControl()
s1 = AdvancedServo()
# Websocket list for storing values
wss = []
# Set motor acceleration
def setAllMotorsAcceleration(v):
m1.setAcceleration(0, v)
m1.setAcceleration(1, v)
m2.setAcceleration(0, v)
m2.setAcceleration(1, v)
m3.setAcceleration(0, v)
interC.setOutputState(i, nOutputs[i])
motors = nMotors
servos = nServos
outputs = nOutputs
return True
from Phidgets.PhidgetException import *
from Phidgets.Events.Events import *
from Phidgets.Manager import Manager
from Phidgets.Phidget import PhidgetLogLevel
from Phidgets.Devices.MotorControl import MotorControl
motorC = MotorControl()
from Phidgets.Devices.AdvancedServo import AdvancedServo
servoC = AdvancedServo()
from Phidgets.Devices.InterfaceKit import InterfaceKit
interC = InterfaceKit()
def motorInpChange(e):
inp = e.state
print('[M] Motor Input: ' + str(inp))
def motorCurChange(e):
cur = e.current
import time
import csv
# Device specific imports
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import *
from Phidgets.Manager import Manager
from Phidgets.Devices.MotorControl import MotorControl
from Phidgets.Devices.Encoder import Encoder
from Phidgets.Phidget import PhidgetLogLevel
"""
Step 1 - Create device objects(s) [I'm skipping the event handlers & their callbacks for simplicity]
"""
try:
motor = MotorControl()
encoder = Encoder()
torque_sensor = AnalogInput()
except RuntimeError as error:
print ('Python Runtime Exception relating to motor object: %s' % error.details)
exit(1)
"""
Step 2 - Open device(s) using the object created above
"""
try:
motor.openPhidget()
encoder.openPhidget()
torque_sensor.openPhidget()
except PhidgetException as error:
print ('Device error %i, %s' % (error.code, error.details))
import sys
#Phidget specific imports
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import AttachEventArgs, DetachEventArgs, ErrorEventArgs, CurrentChangeEventArgs, InputChangeEventArgs, VelocityChangeEventArgs
from Phidgets.Devices.MotorControl import MotorControl
#import methods for sleeping thread
from time import sleep
import zmq
import logging
from datetime import datetime
#Create an motorcontrol object
try:
motorControlL = MotorControl() # Left Motor
motorControlR = MotorControl() # Right Motor
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def displayDeviceInfo():
print(
"|------------|------------------------------------|--------------|------------|"
)
print(
"|- Attached -|- Type -|- Serial No. -|- Version -|"
)
