71 lines
1.3 KiB
Python
71 lines
1.3 KiB
Python
import time
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import serial
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class Pololu1376:
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def __init__(self, serial_port):
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self.ser = serial_port
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self.ser.set_output_flow_control(False)
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try:
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self.ser.open()
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except serial.SerialException:
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self.ser.close()
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self.ser.open()
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print("F/W-Version:", self.get_firmware_version())
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def send(self, data):
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self.ser.write((data + '\r\n').encode())
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def recv(self):
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data = self.ser.readline().decode("utf-8").replace("\n", '').replace("\r", '')
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return data
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def cmd(self, cmd):
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self.send(cmd)
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rsp = self.recv()
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if "." in rsp[0]:
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pass
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elif "!" in rsp[0]:
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pass
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elif "?" in rsp[0]:
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raise Exception("The last command was not understood (a Serial Format Error has occurred).")
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elif rsp is None:
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raise Exception("Timeout.")
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return rsp[1:]
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def go(self):
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return self.cmd("GO")
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def motor_forward(self):
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return self.cmd("F")
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def motor_reverse(self):
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return self.cmd("R")
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def motor_brake(self):
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return self.cmd("B")
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def motor_stop(self):
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return self.cmd("X")
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def motor_set_limit(self, value):
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self.cmd("L" + str(value))
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def get_firmware_version(self):
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return self.cmd("V")
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def get_variable(self, var):
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return self.cmd("L" + str(var))
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if __name__ == '__main__':
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ser = serial.Serial("/dev/ttyACM0", 115200)
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s = Pololu1376(serial_port=ser)
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print("End of program")
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