def test_middle_pololu_message(self):
reader = PololuSerialReader('%s/middle_pololu1' % CWD)
topic = '/han/middle/command'
pub, msg_class = rostopic.create_publisher(
topic, 'ros_pololu/MotorCommand', True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('Brow_Inner_L', 0.1, 2.0, 2.0)) #1
pub.publish(msg_class('Inner_Brow_R_UD', 0.1, 2.0, 2.0)) #4
for i in range(3*2*loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_left_pololu_message(self):
reader = PololuSerialReader('%s/left_pololu1' % CWD)
topic = '/han/left/command'
pub, msg_class = rostopic.create_publisher(
topic, 'ros_pololu/MotorCommand', True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('EyeLid_L_L', 0.1, 2.0, 2.0))
pub.publish(msg_class('EyeLid_U_L', 0.1, 2.0, 2.0))
for i in range(3*2*loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_middle_pololu_message(self):
reader = PololuSerialReader('%s/middle_pololu1' % CWD)
topic = '/han/middle/command'
pub, msg_class = rostopic.create_publisher(topic,
'ros_pololu/MotorCommand',
True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('Brow_Inner_L', 0.1, 2.0, 2.0)) #1
pub.publish(msg_class('Inner_Brow_R_UD', 0.1, 2.0, 2.0)) #4
for i in range(3 * 2 * loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_left_pololu_message(self):
reader = PololuSerialReader('%s/left_pololu1' % CWD)
topic = '/han/left/command'
pub, msg_class = rostopic.create_publisher(topic,
'ros_pololu/MotorCommand',
True)
time.sleep(3) # wait for pololu to be connected
loop = 100
for i in range(loop):
pub.publish(msg_class('EyeLid_L_L', 0.1, 2.0, 2.0))
pub.publish(msg_class('EyeLid_U_L', 0.1, 2.0, 2.0))
for i in range(3 * 2 * loop):
id, cmd, value = reader.read()
print "set motor %s %s value %s" % (id, cmd, value)
def test_port_io(self):
controller = Maestro(self.port0)
reader = PololuSerialReader(self.port1)
for i in range(10):
pulses = [6143, 6122, 5899, 5085, 5352, 5810, 6075, 6143] * 100
for pulse in pulses:
controller.setAcceleration(12, 255)
controller.setSpeed(12, 256)
controller.setTarget(12, pulse)
pulses_got = []
for i in range(3 * len(pulses)):
id, cmd, value = reader.read()
if cmd == 'speed':
self.assertEqual(value, 256)
if cmd == 'accelaration':
self.assertEqual(value, 255)
if cmd == 'position':
pulses_got.append(value)
self.assertListEqual(pulses, pulses_got)
def test_port_io(self):
controller = Maestro(self.port0)
reader = PololuSerialReader(self.port1)
for i in range(10):
pulses = [6143, 6122, 5899, 5085, 5352, 5810, 6075, 6143]*100
for pulse in pulses:
controller.setAcceleration(12, 255)
controller.setSpeed(12, 256)
controller.setTarget(12, pulse)
pulses_got = []
for i in range(3*len(pulses)):
id, cmd, value = reader.read()
if cmd == 'speed':
self.assertEqual(value, 256)
if cmd == 'accelaration':
self.assertEqual(value, 255)
if cmd == 'position':
pulses_got.append(value)
self.assertListEqual(pulses, pulses_got)
