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- Pololu1376: take enums as variable id

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- stirrerPololu1376: Make for robust against motor cable plug
This commit is contained in:
jens
2021-08-12 20:13:47 +01:00
parent ebd5d4cd5e
commit 0843f1d87a
2 changed files with 33 additions and 17 deletions
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components/actor/pololu1376.py
+14 -13
View File
@@ -106,22 +106,23 @@ class Pololu1376:
return self.cmd("V") return self.cmd("V")
def get_variable(self, var): def get_variable(self, var):
return self.cmd("D" + str(var)) return int(self.cmd("D" + str(var.value[0])))
def print_vars(self): def print_vars(self):
print ("-------------------------------------------") print ("-------------------------------------------")
print ("STATUS : {:04X}".format(int(self.get_variable(Varid.STATUS.value[0])))) print ("STATUS : {:04X}".format(self.get_variable(Varid.STATUS)))
print ("STATUS_ERROR_OCCURED : {:04X}".format(int(self.get_variable(Varid.STATUS_SERIAL_ERRORS_OCCURED.value[0])))) print ("STATUS_ERROR_OCCURED : {:04X}".format(self.get_variable(Varid.STATUS_SERIAL_ERRORS_OCCURED)))
print ("STATUS_LIMIT_STATUS : {:04X}".format(int(self.get_variable(Varid.STATUS_LIMIT_STATUS.value[0])))) print ("STATUS_LIMIT_STATUS : {:04X}".format(self.get_variable(Varid.STATUS_LIMIT_STATUS)))
print ("RC_RC1_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.RC_RC1_SCALED_VALUE.value[0])))) print ("RC_RC1_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.RC_RC1_SCALED_VALUE)))
print ("RC_RC2_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.RC_RC2_SCALED_VALUE.value[0])))) print ("RC_RC2_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.RC_RC2_SCALED_VALUE)))
print ("ANALOG_AN1_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value[0])))) print ("ANALOG_AN1_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.ANALOG_AN1_SCALED_VALUE)))
print ("ANALOG_AN2_SCALED_VALUE : {:04X}".format(int(self.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value[0])))) print ("ANALOG_AN2_SCALED_VALUE : {:04X}".format(self.get_variable(Varid.ANALOG_AN2_SCALED_VALUE)))
print ("DIAGNOSTIC_TARGET_SPEED : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value[0])))) print ("DIAGNOSTIC_TARGET_SPEED : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED)))
print ("DIAGNOSTIC_SPEED : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_SPEED.value[0])))) print ("DIAGNOSTIC_SPEED : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_SPEED)))
print ("DIAGNOSTIC_TEMPERATURE_A : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_A.value[0])))) print ("DIAGNOSTIC_TEMPERATURE_A : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_A)))
print ("DIAGNOSTIC_TEMPERATURE_B : {:04X}".format(int(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_B.value[0])))) print ("DIAGNOSTIC_TEMPERATURE_B : {:04X}".format(self.get_variable(Varid.DIAGNOSTIC_TEMPERATURE_B)))
print ("MOTOR_CURRENT_MA : {:04X}".format(int(self.get_variable(Varid.MOTOR_CURRENT_MA.value[0])))) # print ("MOTOR_CURRENT_RAW : {:04X}".format(self.get_variable(Varid.MOTOR_CURRENT_RAW)))
# print ("MOTOR_CURRENT_MA : {:04X}".format(self.get_variable(Varid.MOTOR_CURRENT_MA)))
if __name__ == '__main__': if __name__ == '__main__':
components/actor/stirrerpololu1376.py
+19 -4
View File
@@ -1,6 +1,6 @@
from contextlib import contextmanager from contextlib import contextmanager
from components import AStirrer from components import AStirrer
from pololu1376 import Pololu1376 from pololu1376 import *
import time import time
import serial import serial
@@ -41,9 +41,16 @@ class StirrerPololu1376(AStirrer):
print("Set speed to {} %".format(speed)) print("Set speed to {} %".format(speed))
def _on_process(self): def _on_process(self):
print("STATUS :") #s print("STATUS :")
self.drv.print_vars() # self.drv.print_vars()
status = self.drv.get_variable(Varid.STATUS)
limit_status = self.drv.get_variable(Varid.STATUS_LIMIT_STATUS)
print("Status={:02X}".format(status))
if status & 0x01 == 0x01:
if limit_status & 0x01 == 0x01:
print("Recover after motor error!")
self.drv.go()
if __name__ == '__main__': if __name__ == '__main__':
s = StirrerPololu1376(dt=1.0, params={'port': "/dev/ttyACM0", 'speed': 115200}) s = StirrerPololu1376(dt=1.0, params={'port': "/dev/ttyACM0", 'speed': 115200})
@@ -77,5 +84,13 @@ if __name__ == '__main__':
s.set_speed(50) s.set_speed(50)
time.sleep(3.0) time.sleep(3.0)
print("Continious operation increasing speed")
for speed in range (25, 75, 5):
s.set_duty_cycle(1.0)
s.set_speed(speed)
for d in range(0,3,1):
s.process()
time.sleep(1.0)
print("Leaving context") print("Leaving context")