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app.py
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/
app.py
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import numpy
import time
import pypot.dynamixel
import OSC
import simpleOSC
# Settings
receiveAddress = "0.0.0.0"
receivePort = 8000
dremelJointSpeedMin = 100
dremelJointSpeedMax = 1024
dremelJointPosMin = 40
dremelJointPosMax = 53
wheelSpeedMax = 1024 # use symmetrically for min and max
wheelSlowdownMax = 1 # %, in range 0-1
leftWheelMotorId = 3
rightWheelMotorId = 2
dremelMotorId = 4
# Global variables
wheelSpeed = 0
leftWheelSlowdown = 0
rightWheelSlowdown = 0
def wheelSpeedHandler(addr, tags, data, source):
global wheelSpeedMax, wheelSpeed
value = data[0] + 0.0
if value == 0:
value = 1; # Fix problem with non-symmetrical values
wheelSpeed = (value - 64)/63 * wheelSpeedMax
updateWheelSpeeds()
def wheelSlowdownHandler(addr, tags, data, source):
global wheelSlowdownMax, leftWheelSlowdown, rightWheelSlowdown
value = data[0] + 0.0
if value == 0:
value = 1; # Fix problem with non-symmetrical values
slowdown = (value - 64)/63 * wheelSlowdownMax
if slowdown > 0:
leftWheelSlowdown = slowdown
rightWheelSlowdown = 0
else:
leftWheelSlowdown = 0
rightWheelSlowdown = -slowdown
updateWheelSpeeds()
def dremelJointPosHandler(addr, tags, data, source):
global dxlIO, dremelJointPosMin, dremelJointPosMax, dremelMotorId
value = data[0] + 0.0
pos = value/127 * (dremelJointPosMax - dremelJointPosMin) + dremelJointPosMin
dxlIO.set_goal_position({dremelMotorId: -pos})
def dremelJointSpeedHandler(addr, tags, data, source):
global dxlIO, dremelJointSpeedMin, dremelJointSpeedMax, dremelMotorId
value = data[0] + 0.0
speed = value/127 * (dremelJointSpeedMax - dremelJointSpeedMin) + dremelJointSpeedMin
dxlIO.set_moving_speed({dremelMotorId: speed})
def updateWheelSpeeds():
global dxlIO, wheelSpeed, leftWheelSlowdown, rightWheelSlowdown, leftWheelMotorId, rightWheelMotorId
leftWheelSpeed = wheelSpeed * (1 - leftWheelSlowdown)
rightWheelSpeed = -wheelSpeed * (1 - rightWheelSlowdown)
dxlIO.set_moving_speed({leftWheelMotorId: leftWheelSpeed, rightWheelMotorId: rightWheelSpeed})
def app():
# Init Dynamixel connection
global dxlIO, foundIds
ports = pypot.dynamixel.get_available_ports()
if not ports:
raise IOError('No port available.')
port = ports[0]
dxlIO = pypot.dynamixel.DxlIO(port)
print 'Connected'
# Setup motors
dxlIO.enable_torque([leftWheelMotorId, rightWheelMotorId, dremelMotorId])
dxlIO.set_moving_speed({dremelMotorId: dremelJointSpeedMin})
# Init OSC server
simpleOSC.initOSCServer(receiveAddress, receivePort)
simpleOSC.setOSCHandler('/wheelspeed', wheelSpeedHandler)
simpleOSC.setOSCHandler('/wheelslowdown', wheelSlowdownHandler)
simpleOSC.setOSCHandler('/dremeljointpos', dremelJointPosHandler)
simpleOSC.setOSCHandler('/dremeljointspeed', dremelJointSpeedHandler)
simpleOSC.startOSCServer()
# Enter infinite loop to be able to catch KeyboardInterrupt
try:
while True:
time.sleep(0)
except KeyboardInterrupt:
simpleOSC.closeOSC()
# Launch the app
if __name__ == '__main__': app()