def __init__(self, serial_port, has_sensor=False, start_heartbeat=True, baudrate=115200, timeout=0.05):
"""
:param serial_port: Serial device to use for communication (i.e. "COM3" or "/dev/tty.usbmodem0")
:param has_sensor: Whether or not the bldc motor is using a hall effect sensor
:param start_heartbeat: Whether or not to automatically start the heartbeat thread that will keep commands
alive.
:param baudrate: baudrate for the serial communication. Shouldn't need to change this.
:param timeout: timeout for the serial communication
"""
if serial is None:
raise ImportError("Need to install pyserial in order to use the VESCMotor class.")
self.serial_port = serial.Serial(port=serial_port, baudrate=baudrate, timeout=timeout)
if has_sensor:
self.serial_port.write(encode(SetRotorPositionMode(SetRotorPositionMode.DISP_POS_OFF)))
self.heart_beat_thread = threading.Thread(target=self._heartbeat_cmd_func)
self._stop_heartbeat = threading.Event()
if start_heartbeat:
self.start_heartbeat()
# check firmware version and set GetValue fields to old values if pre version 3.xx
version = self.get_firmware_version()
if int(version.split('.')[0]) < 3:
GetValues.fields = pre_v3_33_fields
# store message info for getting values so it doesn't need to calculate it every time
msg = GetValues()
self._get_values_msg = encode_request(msg)
self._get_values_msg_expected_length = msg._full_msg_size
def get_firmware_version(self):
msg = GetVersion()
return str(
self.write(encode_request(msg), num_read_bytes=msg._full_msg_size))