def e2():
manager.receive_into(v2dt)
pass
ev0 = EventWrapper(e0, 0)
ev1 = EventWrapper(e1, marm.calculate_timeout(115200))
ev2 = EventWrapper(
e2,
marm.calculate_timeout(115200) + v2dt.calculate_timeout(115200))
sertest = AutoTimer(period=1, events=[ev0, ev1, ev2])
if manager.open_port('0', 115200):
sertest.start()
try:
while True:
if dataflag:
print(marm.voltages)
print(marm.test)
dataflag = False
#user_input = raw_input()
'''
if manager.open_port(user_input, 115200):
sertest.start()
else:
from pololu_controller import PololuController from Servo import * from data_structures import mini_arm as marm utils = Utility() alive = True def quit(): global alive alive = False manager1 = SerialManager() print 'Ports available' manager1.list_ports() print 'Select Dynamixel port' user_input = utils.getch() if manager1.open_port(user_input, 57600): serv_2 = Robotis_Servo(manager1, 1) print 'Setting up Dynamixel 2' print 'Dynamixel 2 at ' + str(serv_2.read_angle()) while(alive): serv_2.move_angle(1, 1.5, blocking=False) time.sleep(1) serv_2.move_angle(2, 1.5, blocking=False) time.sleep(1) manager1.close()
def e1():
global dataflag
dataflag = manager.receive_into(marm)
manager.write(v2dt.get_outgoing_struct())
def e2():
manager.receive_into(v2dt)
pass
ev0 = EventWrapper(e0, 0)
ev1 = EventWrapper(e1, marm.calculate_timeout(115200))
ev2 = EventWrapper(e2, marm.calculate_timeout(115200) + v2dt.calculate_timeout(115200))
sertest = AutoTimer(period=1, events=[ev0,ev1,ev2])
if manager.open_port('0', 115200):
sertest.start()
try:
while True:
if dataflag:
print(marm.voltages)
print(marm.test)
dataflag = False
#user_input = raw_input()
'''
if manager.open_port(user_input, 115200):
sertest.start()
for baudrate in baudrates :
print(str(baudrate) + ' bps')
current_baudrate = raw_input()
print (str(current_baudrate))
if int(current_baudrate) not in baudrates:
print('incorrect baudrate selected')
quit()
ser.list_ports()
for i, port in enumerate(ser.ports):
if ser.open_port(i, current_baudrate):
print('Scanning at ' + str(current_baudrate))
for i in range(0, 10):
print('scanning servo at id ' + str(i))
try:
r = Robotis_Servo(ser, i);
ang = r.read_angle()
print('Servo found at id ' + str(i) + ' at angle %.3f' % ang)
except RuntimeError, e:
pass
ser.serial_io.close()
time.sleep(1)
servo_list = []
class TestStand:
def __init__(self):
self.serial_manager = SerialManager()
try:
self.database = Database()
except KeyError:
print('Error loading database')
self.abort_test()
self.csv_logger = CSVLogger()
# create test log directories, select a serial port and begin the test
def start_test(self):
self.test_num = self.database.find_next_test_number()
self.csv_logger.test_num = self.test_num
print(f'\nStarting test {self.csv_logger.test_num}\n')
self.csv_logger.make_test_data_dir()
self.csv_logger.make_test_dir()
print('Scanning serial ports\n')
ports = self.serial_manager.get_available_serial_ports()
if not ports:
print('No serial ports were found')
self.quit_test()
else:
# let user select the correct serial port
print(('Choose a port from the options below.\n'
'Type the number of the port and press enter:'))
for port in ports:
print(ports.index(port) + 1, ' - ', port)
choice = input()
self.port = ports[int(choice) - 1]
print(f'Press enter to start test {self.test_num}\n')
input()
self.run_test()
# connect to the serial port, start the listener thread
def run_test(self):
self.serial_manager.open_port(self.port)
print("Test started!")
try:
while True:
# log serial telemetry to the influx database
data = self.serial_manager.read_telemetry()
if data:
data['test_number'] = self.test_num
self.database.log_data(data)
except KeyboardInterrupt:
self.finish_test()
# allow the user to make notes about the test, then
# log the test's notes and data inside it's directory
def finish_test(self):
print()
print("Ending test")
results = self.database.export_test(self.test_num)
if results:
self.csv_logger.log_as_csv(results)
def abort_test(self):
try:
self.csv_logger.delete_test_files()
except AttributeError:
pass
sys.exit()
class TestStand:
def __init__(self):
self.serial_manager = SerialManager()
try:
self.database = Database()
except KeyError:
print(
'Error loading database. Did you set the TEST_STAND_DB '
'environment variable to the name of your InfluxDB database?')
self.abort_test()
self.csv_logger = CSVLogger()
# thread for interpreting incoming serial data
self.telemetry_thread = threading.Thread(target=self.telemetry_loop)
self.thread_is_running = False
# create test log directories, select a serial port and begin the test
def start_test(self):
self.test_num = self.database.find_next_test_number()
self.csv_logger.test_num = self.test_num
print(f'\nStarting test {self.csv_logger.test_num}\n')
self.csv_logger.make_test_data_dir()
self.csv_logger.make_test_dir()
print('Scanning serial ports\n')
ports = self.serial_manager.get_available_serial_ports()
if not ports:
print('No serial ports were found')
self.quit_test()
else:
# let user select the correct serial port
print(('Choose a port from the options below.\n'
'Type the number of the port and press enter:'))
for port in ports:
print(ports.index(port) + 1, ' - ', port)
choice = input()
self.port = ports[int(choice) - 1]
print(f'Ready to start test {self.test_num}\n')
keyword = input('To begin type "start": ')
while keyword != 'start':
keyword = input('Wrong keyword. To begin type "start": ')
self.run_test()
# connect to the serial port, start the listener thread and allow the user
# to control the solenoid with the enter/return key
def run_test(self):
self.serial_manager.open_port(self.port)
self.thread_is_running = True
self.telemetry_thread.start()
print('Press enter to toggle solenoid')
while True:
if input() == 'q':
print('\n')
self.finish_test()
break
self.serial_manager.toggle_solenoid()
# drive the solenoid low, allow the user to make notes about the test, then
# log the test's notes and data inside it's directory
def finish_test(self):
if self.serial_manager.solenoid_state:
self.serial_manager.toggle_solenoid()
while self.serial_manager.solenoid_event_queued:
pass
self.thread_is_running = False
notes = []
note = input('Make any notes about this test below:\n')
while note != '':
notes.append(note)
note = input()
self.csv_logger.log_notes(notes)
results = self.database.export_test(self.test_num)
if results:
self.csv_logger.log_as_csv(results)
def abort_test(self):
self.thread_is_running = False
try:
self.csv_logger.delete_test_files()
except AttributeError:
pass
sys.exit()
def telemetry_loop(self):
while self.thread_is_running:
# if there is a toggle queued for the solenoid
if self.serial_manager.solenoid_event_queued:
# write a 0 or 1 to the serial port to toggle the solenoid
self.serial_manager.serial.write(
str(self.serial_manager.solenoid_state).encode())
self.serial_manager.solenoid_event_queued = False
# log serial telemetry to the influx database
data = self.serial_manager.read_telemetry()
if data:
data['test_number'] = self.test_num
self.database.log_data(data)
from data_structures import mini_arm as marm
utils = Utility()
alive = True
def quit():
global alive
alive = False
manager1 = SerialManager()
print('Ports available')
manager1.list_ports()
print('Select Dynamixel port')
user_input = utils.getch()
if manager1.open_port(user_input, 115200):
serv2 = Robotis_Servo(manager1,2)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv2.read_angle()))
print('Dynamixel encoder at ' + str(serv2.read_encoder()))
serv5 = Robotis_Servo(manager1,5)
print('Setting up Dynamixel')
print('Dynamixel angle at ' + str(serv5.read_angle()))
print('Dynamixel encoder at ' + str(serv5.read_encoder()))
while(alive):
#serv.move_angle(1, 1.5, blocking=False)
serv2.move_angle(0.5,blocking=False)
serv5.move_angle(0.1,blocking=False)
from data_structures import mini_arm as marm utils = Utility() alive = True def quit(): global alive alive = False manager1 = SerialManager() print 'Ports available' manager1.list_ports() print 'Select Dynamixel port' user_input = utils.getch() if manager1.open_port(user_input, 57600): serv_2 = Robotis_Servo(manager1, 2) print 'Setting up Dynamixel 2' serv_5 = Robotis_Servo(manager1, 5) print 'Setting up Dynamixel 5' serv_2.set_angvel(0.5) serv_2.set_cw_limit(1) serv_2.set_ccw_limit(4095) serv_2.move_angle(2.5, 0.5, blocking=True) print 'Dynamixel 2 at ' + str(serv_2.read_angle()) serv_5.set_angvel(0.5) serv_5.set_cw_limit(1) serv_5.set_ccw_limit(4095)
