Пример #1
0
from roboclaw import Roboclaw
from time import sleep

roboclaw = Roboclaw("/dev/ttyS0", 38400)
roboclaw.Open()


# Read encoder
motor_1_count = roboclaw.ReadEncM1(0x80)
print "Original:"
print motor_1_count

sleep(2)

# Set encoder and then read and print to test operation
roboclaw.SetEncM1(0x80, 10000)
motor_1_count = roboclaw.ReadEncM1(0x80)
print "After setting count:"
print motor_1_count

sleep(2)

# Reset encoders and read and print value to test operation
roboclaw.ResetEncoders(0x80)
motor_1_count = roboclaw.ReadEncM1(0x80)
print "After resetting:"
print motor_1_count

sleep(2)

# Position motor, these values may have to be changed to suit the motor/encoder combination in use
Пример #2
0
version2 = rc.ReadVersion(address2)
version3 = rc.ReadVersion(address3)

if version1[0]==False:
	print "GETVERSION Failed"
else:
	print repr(version1[1])
	print repr(version2[1])
	print repr(version3[1])


#homeaxis(address1,1)
homeaxis(address1,2,2000,25)
homeaxis(address2,1,2000,5)
homeaxis(address2,2,2000,10)
rc.SetEncM1(address3,0)
rc.SetEncM2(address3,0)

rc.SpeedAccelDeccelPositionM2(address1,2000,10000,10000,24000,100)
time.sleep(0.5)
rc.SpeedAccelDeccelPositionM1(address2,2000,10000,10000,2500,100)
time.sleep(0.5)
rc.SpeedAccelDeccelPositionM2(address2,2000,10000,10000,14500,100)
time.sleep(0.5)

while(1):


	for i in range(0,20):
		displayspeed()
		time.sleep(0.01)