def __findMotor(self, start=0, end=10, found=False):
'''
Scans to see if a motor is connected and to which address.
Writes the same message to different addresses, if it receives a reply it returns True.
It also saves the address every time a motor is found in a list and each address can be summoned with
a definition found below.
'''
BYTESIZE = 19
ADDRESREGISTER = 156
# MOTOR_TYPE=153
# SERIAL_NBR = 154
data = []
self.addr = dict()
if self.port.isOpen() == False:
self.port.open()
try:
for j in range(start, end):
address = translations.createcommand_read(
j, ADDRESREGISTER
) #ADDRESREGISTER)# SERIAL_NBR) #MOTOR_TYPE)#)
self.port.write(address.decode('hex'))
for k in range(BYTESIZE):
byte = self.port.read()
data.append(k)
data[k] = byte.encode('hex')
try:
values = [data[9], data[11]]
decim = translations.hextodec(values)
if decim == 1:
found = True
if 'motor' in self.addr:
self.addr.append(j)
else:
self.addr['motor'] = j
print 'Motor found on address ' + str(
j) + ' decim: %s' % decim, ' values: %s' % values
except:
print 'No motor on address ' + str(j)
finally:
self.port.close()
return found
def read(self, address, parameter):
'''
Asks the motor to give information concerning a parameter,
if there is a response, the value will be printed otherwise an error will be raised.
:param address: The address of the motor, defined in __init__.
:param parameter: The parameter which is being read.
:raises: Raises if the motor doesn't respond, check the message sent or the connection with the motor.
'''
BYTESIZE = 19
message = translations.createcommand_read(address, parameter)
values = self.sendmessage(message, BYTESIZE, True)
if values == None:
raise ValueError('Values is empty, check connection with motor')
return values
def read(self, address, parameter):
'''
Asks the motor to give information concerning a parameter,
if there is a response, the value will be printed otherwise an error will be raised.
:param address: The address of the motor, defined in __init__.
:param parameter: The parameter which is being read.
:raises: Raises if the motor doesn't respond, check the message sent or the connection with the motor.
'''
BYTESIZE = 19
message = translations.createcommand_read(address, parameter)
values = self.sendmessage(message, BYTESIZE, True)
if values == None:
raise ValueError('Values is empty, check connection with motor')
return values
def __findMotor(self, start =0, end=10, found = False):
'''
Scans to see if a motor is connected and to which address.
Writes the same message to different addresses, if it receives a reply it returns True.
It also saves the address every time a motor is found in a list and each address can be summoned with
a definition found below.
'''
BYTESIZE = 19
ADDRESREGISTER = 156
# MOTOR_TYPE=153
# SERIAL_NBR = 154
data = []
self.addr = dict()
if self.port.isOpen()==False:
self.port.open()
try:
for j in range(start,end):
address = translations.createcommand_read(j, ADDRESREGISTER) #ADDRESREGISTER)# SERIAL_NBR) #MOTOR_TYPE)#)
self.port.write(address.decode('hex'))
for k in range(BYTESIZE):
byte = self.port.read()
data.append(k)
data[k] = byte.encode('hex')
try:
values = [data[9],data[11]]
decim = translations.hextodec(values)
if decim == 1:
found = True
if 'motor' in self.addr:
self.addr.append(j)
else:
self.addr['motor'] = j
print 'Motor found on address ' + str(j)+ ' decim: %s'%decim, ' values: %s'%values
except:
print 'No motor on address ' + str(j)
finally:
self.port.close()
return found