def main():
args = handleArgs()
port = args['port']
if args['all']:
ID = xl320.XL320_BROADCAST_ADDR
else:
ID = args['id']
if port.lower() == 'dummy':
ser = ServoSerial(port=port, fake=True)
else:
ser = ServoSerial(port=port)
ser.open()
pkt = Packet.makeRebootPacket(ID)
# print('pkt', pkt)
ser.write(pkt)
gramar = 'is'
if ID == xl320.XL320_BROADCAST_ADDR:
ID = 'all'
gramar = 'are'
print('Servo[{}] {} rebooting'.format(ID, gramar))
def sweep(port, rate, ID, retry=3):
"""
Sends a ping packet to ID's from 0 to maximum and prints out any returned
messages.
Actually send a broadcast and will retry (resend) the ping 3 times ...
"""
if port == 'dummy':
s = ServoSerial(port, rate, fake=True)
else:
s = ServoSerial(port, rate)
if ID < 0:
ID = xl320.XL320_BROADCAST_ADDR
try:
s.open()
except SerialException as e:
# print('Error opening serial port:')
print('-' * 40)
print(sys.argv[0], ':')
print(e)
exit(1)
pkt = makePingPacket(ID)
# print('ping', pkt)
s.write(pkt)
# as more servos add up, I might need to increase the cnt number???
for cnt in range(retry):
ans = s.read()
if ans:
for pkt in ans:
servo = packetToDict(pkt)
utils.prettyPrintPacket(servo)
print('raw pkt: {}'.format(pkt))
else:
print('Try {}: no servos found'.format(cnt))
time.sleep(0.1)
s.close()
pkt = Packet.makeResetPacket(ID, level)
if args['all']:
servo_str = 'all servos'
else:
servo_str = 'servo ID {}'.format(args['id'])
if level == xl320.XL320_RESET_ALL:
level_str = 'all parameters'
elif level == xl320.XL320_RESET_ALL_BUT_ID:
level_str = 'all parameters but ID'
elif level == xl320.XL320_RESET_ALL_BUT_ID_BAUD_RATE:
level_str = 'all parameters but ID and baudrate'
print('\nResetting {}: {} set to default'.format(servo_str, level_str))
ser.write(pkt)
# print('packet', pkt)
sleep(1)
# do a reboot -----------------------------------------------------------
pkt = Packet.makeRebootPacket(ID)
ser.write(pkt)
print('\nYour servo(s) should be reset now')
sleep(1)
# maybe include smarter logic than just spamming every servo ------------
pkt = Packet.makePingPacket(xl320.XL320_BROADCAST_ADDR)
ser.write(pkt)
for cnt in range(3):
ans = ser.read()
# parser.add_argument('-g', '--gpio', help='Raspberry Pi GPIO pin number', type=int, default=17)
args = vars(parser.parse_args())
return args
args = handleArgs()
port = args['port']
angle = args['angle']
if port:
print('Opening: {}'.format(port))
serial = ServoSerial(port) # use this if you want to talk to real servos
else:
print('Using dummy serial port for testing')
serial = DummySerial(port) # use this for simulation
serial.open()
data = [(1, angle), (2, angle), (3, angle), (4, angle), (5, angle), (6, angle),
(7, angle), (8, angle), (9, angle), (10, angle), (11, angle),
(12, angle)]
pkt = Packet.makeBulkAnglePacket(data)
serial.write(pkt) # there is no returned status packet, so just write
# serial.write(pkt)
print('Raw Packet:', pkt)
serial.close()