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- read variables

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jens
2021-08-11 15:59:06 +01:00
parent 11f3ff6743
commit 7a8368d9b9
1 changed files with 71 additions and 10 deletions
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components/actor/Pololu1376.py
+71 -10
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@@ -1,7 +1,43 @@
import time
import serial
import enum
class Varid(enum.Enum):
STATUS = 0,
STATUS_ERROR_OCCURED = 1,
STATUS_SERIAL_ERROR_OCCURED = 2,
STATUS_LIMIT_STATUS = 3,
STATUS_RESET_FLAGS = 127,
RC_RC1_UNLIMITED_RAW_VALUE = 4,
RC_RC1_RAW_VALUE = 5,
RC_RC1_SCALED_VALUE = 6,
RC_RC2_UNLIMITED_RAW_VALUE = 8,
RC_RC2_RAW_VALUE = 9,
RC_RC2_SCALED_VALUE = 10,
ANALOG_AN1_UNLIMITED_RAW_VALUE = 12,
ANALOG_AN1_RAW_VALUE = 13,
ANALOG_AN1_SCALED_VALUE = 14,
ANALOG_AN2_UNLIMITED_RAW_VALUE = 16,
ANALOG_AN2_RAW_VALUE = 17,
ANALOG_AN2_SCALED_VALUE = 18,
DIAGNOSTIC_TARGET_SPEED = 20,
DIAGNOSTIC_SPEED = 21,
DIAGNOSTIC_BRAKE_AMOUNT = 22,
DIAGNOSTIC_INPUT_VOLTAGE = 23,
DIAGNOSTIC_TEMPERATURE = 24,
DIAGNOSTIC_RC_PERIOD = 26,
DIAGNOSTIC_BAUDRATE_REGISTER = 27,
DIAGNOSTIC_SYSTEM_TIME_LOW = 28,
DIAGNOSTIC_SYSTEM_TIME_HIGH = 29,
MOTOR_MAX_SPEED_FORWARD = 30,
MOTOR_MAX_ACCEL_FORWARD = 31,
MOTOR_MAX_DECEL_FORWARD = 32,
MOTOR_BREAK_DURATION_FORWARD = 33,
MOTOR_MAX_SPEED_REVERSE = 36,
MOTOR_MAX_ACCEL_REVERSE = 37,
MOTOR_MAX_DECEL_REVERSE = 38,
MOTOR_BREAK_DURATION_REVERSE = 39
class Pololu1376:
def __init__(self, serial_port):
self.ser = serial_port
@@ -12,6 +48,8 @@ class Pololu1376:
self.ser.close()
self.ser.open()
self.motor_stop()
print("F/W-Version:", self.get_firmware_version())
def send(self, data):
@@ -39,14 +77,14 @@ class Pololu1376:
def go(self):
return self.cmd("GO")
def motor_forward(self):
return self.cmd("F")
def motor_forward(self, speed_percent):
return self.cmd("F" + str(int(speed_percent)) + "%")
def motor_reverse(self):
return self.cmd("R")
def motor_reverse(self, speed_percent):
return self.cmd("R" + str(int(speed_percent)) + "%")
def motor_brake(self):
return self.cmd("B")
def motor_brake(self, brake_amount_percent):
return self.cmd("B" + str(int(brake_amount_percent)) + "%")
def motor_stop(self):
return self.cmd("X")
@@ -58,13 +96,36 @@ class Pololu1376:
return self.cmd("V")
def get_variable(self, var):
return self.cmd("L" + str(var))
return self.cmd("D" + str(var))
def print_vars(drv):
print ("STATUS :", drv.get_variable(Varid.STATUS.value))
print ("STATUS_ERROR_OCCURED :", drv.get_variable(Varid.STATUS_ERROR_OCCURED.value))
print ("STATUS_LIMIT_STATUS :", drv.get_variable(Varid.STATUS_LIMIT_STATUS.value))
print ("RC_RC1_SCALED_VALUE :", drv.get_variable(Varid.RC_RC1_SCALED_VALUE.value))
print ("RC_RC2_SCALED_VALUE :", drv.get_variable(Varid.RC_RC2_SCALED_VALUE.value))
print ("ANALOG_AN1_SCALED_VALUE :", drv.get_variable(Varid.ANALOG_AN1_SCALED_VALUE.value))
print ("ANALOG_AN2_SCALED_VALUE :", drv.get_variable(Varid.ANALOG_AN2_SCALED_VALUE.value))
print ("DIAGNOSTIC_TARGET_SPEED :", drv.get_variable(Varid.DIAGNOSTIC_TARGET_SPEED.value))
print ("DIAGNOSTIC_SPEED :", drv.get_variable(Varid.DIAGNOSTIC_SPEED.value))
print ("DIAGNOSTIC_TEMPERATURE :", drv.get_variable(Varid.DIAGNOSTIC_TEMPERATURE.value))
if __name__ == '__main__':
ser = serial.Serial("/dev/ttyACM0", 115200)
s = Pololu1376(serial_port=ser)
drv = Pololu1376(serial_port=ser)
drv.go()
time.sleep(1)
for speed in range(60, 100, 10):
print("Speed = {}".format(speed))
drv.motor_forward(speed)
for n in range (0, 10, 1):
print_vars(drv)
time.sleep(0.5)
drv.motor_brake(50)
time.sleep(1)
print("End of program")