示例#1
0
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software
# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

import time
import Communication
from Communication import CommSimulator
from Communication import CommSerial
import Actuator
from compiler.ast import Print

#comm = CommSimulator()  #TODO read a configuration file to use the correct parameters for CommSimulator
comm_tty = CommSerial(
)  #TODO read a configuration file to use the correct parameters for CommSimulator
#comm.connect()
comm_tty.connect()
#actuator = Actuator.Actuator(comm)
actuator_tty = Actuator.Actuator(comm_tty)

motor_id = 6

print "actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000)"
actuator_tty.set_AngleLimit(motor_id, 0x0000, 0x0000)
time.sleep(1)

print "actuator_tty.setTorque(motor_id, False)"
actuator_tty.setTorque(motor_id, False)
time.sleep(1)
示例#2
0
'''
Created on May 7, 2013

@author: matias
'''

import time
from Communication import CommSerial
import Actuator

comm_tty = CommSerial()
comm_tty.connect()
actuator = Actuator.Actuator(comm_tty)
motor_id = 99


actuator.reset(0xfe)
time.sleep(2)
actuator.setear_id(motor_id)



for i in range(1, 50):
    if (i%2 == 0):
        actuator.led_state_change(motor_id, 1)
    else:
        actuator.led_state_change(motor_id, 0)
    time.sleep(.1)
#