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roboclaw.py
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roboclaw.py
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import random
import time
import serial
class Roboclaw:
"""Roboclaw Interface Class"""
def __init__(self, comport, rate, timeout=0.01, retries=3):
self.comport = comport
self.rate = rate
self.timeout = timeout;
self._trystimeout = retries
self._crc = 0;
# Command Enums
class Cmd():
M1FORWARD = 0
M1BACKWARD = 1
SETMINMB = 2
SETMAXMB = 3
M2FORWARD = 4
M2BACKWARD = 5
M17BIT = 6
M27BIT = 7
MIXEDFORWARD = 8
MIXEDBACKWARD = 9
MIXEDRIGHT = 10
MIXEDLEFT = 11
MIXEDFB = 12
MIXEDLR = 13
GETM1ENC = 16
GETM2ENC = 17
GETM1SPEED = 18
GETM2SPEED = 19
RESETENC = 20
GETVERSION = 21
SETM1ENCCOUNT = 22
SETM2ENCCOUNT = 23
GETMBATT = 24
GETLBATT = 25
SETMINLB = 26
SETMAXLB = 27
SETM1PID = 28
SETM2PID = 29
GETM1ISPEED = 30
GETM2ISPEED = 31
M1DUTY = 32
M2DUTY = 33
MIXEDDUTY = 34
M1SPEED = 35
M2SPEED = 36
MIXEDSPEED = 37
M1SPEEDACCEL = 38
M2SPEEDACCEL = 39
MIXEDSPEEDACCEL = 40
M1SPEEDDIST = 41
M2SPEEDDIST = 42
MIXEDSPEEDDIST = 43
M1SPEEDACCELDIST = 44
M2SPEEDACCELDIST = 45
MIXEDSPEEDACCELDIST = 46
GETBUFFERS = 47
GETPWMS = 48
GETCURRENTS = 49
MIXEDSPEED2ACCEL = 50
MIXEDSPEED2ACCELDIST = 51
M1DUTYACCEL = 52
M2DUTYACCEL = 53
MIXEDDUTYACCEL = 54
READM1PID = 55
READM2PID = 56
SETMAINVOLTAGES = 57
SETLOGICVOLTAGES = 58
GETMINMAXMAINVOLTAGES = 59
GETMINMAXLOGICVOLTAGES = 60
SETM1POSPID = 61
SETM2POSPID = 62
READM1POSPID = 63
READM2POSPID = 64
M1SPEEDACCELDECCELPOS = 65
M2SPEEDACCELDECCELPOS = 66
MIXEDSPEEDACCELDECCELPOS = 67
SETM1DEFAULTACCEL = 68
SETM2DEFAULTACCEL = 69
SETPINFUNCTIONS = 74
GETPINFUNCTIONS = 75
SETDEADBAND = 76
GETDEADBAND = 77
RESTOREDEFAULTS = 80
GETTEMP = 82
GETTEMP2 = 83
GETERROR = 90
GETENCODERMODE = 91
SETM1ENCODERMODE = 92
SETM2ENCODERMODE = 93
WRITENVM = 94
READNVM = 95
SETCONFIG = 98
GETCONFIG = 99
SETM1MAXCURRENT = 133
SETM2MAXCURRENT = 134
GETM1MAXCURRENT = 135
GETM2MAXCURRENT = 136
SETPWMMODE = 148
GETPWMMODE = 149
READEEPROM = 252
WRITEEEPROM = 253
FLAGBOOTLOADER = 255
# Private Functions
def crc_clear(self):
self._crc = 0
return
def crc_update(self, data):
self._crc = self._crc ^ (data << 8)
for bit in range(0, 8):
if (self._crc & 0x8000) == 0x8000:
self._crc = ((self._crc << 1) ^ 0x1021)
else:
self._crc = self._crc << 1
return
def _sendcommand(self, address, command):
self.crc_clear()
self.crc_update(address)
# self._port.write(chr(address))
self._port.write(address.to_bytes(1, 'big'))
self.crc_update(command)
# self._port.write(chr(command))
self._port.write(command.to_bytes(1, 'big'))
return
def _readchecksumword(self):
data = self._port.read(2)
if len(data) == 2:
# crc = (ord(data[0])<<8) | ord(data[1])
crc = (data[0] << 8) | data[1]
return (1, crc)
return (0, 0)
def _readbyte(self):
data = self._port.read(1)
if len(data):
val = ord(data)
self.crc_update(val)
return (1, val)
return (0, 0)
def _readword(self):
val1 = self._readbyte()
if val1[0]:
val2 = self._readbyte()
if val2[0]:
return (1, val1[1] << 8 | val2[1])
return (0, 0)
def _readlong(self):
val1 = self._readbyte()
if val1[0]:
val2 = self._readbyte()
if val2[0]:
val3 = self._readbyte()
if val3[0]:
val4 = self._readbyte()
if val4[0]:
return (1, val1[1] << 24 | val2[1] << 16 | val3[1] << 8 | val4[1])
return (0, 0)
def _readslong(self):
val = self._readlong()
if val[0]:
if val[1] & 0x80000000:
return (val[0], val[1] - 0x100000000)
return (val[0], val[1])
return (0, 0)
def _writebyte(self, val):
self.crc_update(val & 0xFF)
# self._port.write(chr(val&0xFF))
self._port.write(val.to_bytes(1, 'big'))
def _writesbyte(self, val):
self._writebyte(val)
def _writeword(self, val):
self._writebyte((val >> 8) & 0xFF)
self._writebyte(val & 0xFF)
def _writesword(self, val):
self._writeword(val)
def _writelong(self, val):
self._writebyte((val >> 24) & 0xFF)
self._writebyte((val >> 16) & 0xFF)
self._writebyte((val >> 8) & 0xFF)
self._writebyte(val & 0xFF)
def _writeslong(self, val):
self._writelong(val)
def _read1(self, address, cmd):
trys = self._trystimeout
while 1:
self._port.flushInput()
self._sendcommand(address, cmd)
val1 = self._readbyte()
if val1[0]:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF != crc[1] & 0xFFFF:
return (0, 0)
return (1, val1[1])
trys -= 1
if trys == 0:
break
return (0, 0)
def _read2(self, address, cmd):
trys = self._trystimeout
while 1:
self._port.flushInput()
self._sendcommand(address, cmd)
val1 = self._readword()
if val1[0]:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF != crc[1] & 0xFFFF:
return (0, 0)
return (1, val1[1])
trys -= 1
if trys == 0:
break
return (0, 0)
def _read4(self, address, cmd):
trys = self._trystimeout
while 1:
self._port.flushInput()
self._sendcommand(address, cmd)
val1 = self._readlong()
if val1[0]:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF != crc[1] & 0xFFFF:
return (0, 0)
return (1, val1[1])
trys -= 1
if trys == 0:
break
return (0, 0)
def _read4_1(self, address, cmd):
trys = self._trystimeout
while 1:
self._port.flushInput()
self._sendcommand(address, cmd)
val1 = self._readslong()
if val1[0]:
val2 = self._readbyte()
if val2[0]:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF != crc[1] & 0xFFFF:
return 0, 0
return 1, val1[1], val2[1]
trys -= 1
if trys == 0:
break
return (0, 0)
def _read_n(self, address, cmd, args):
trys = self._trystimeout
while 1:
self._port.flushInput()
trys -= 1
if trys == 0:
break
failed = False
self._sendcommand(address, cmd)
data = [1, ]
for i in range(0, args):
val = self._readlong()
if val[0] == 0:
failed = True
break
data.append(val[1])
if failed:
continue
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF == crc[1] & 0xFFFF:
return (data);
return (0, 0, 0, 0, 0)
def _writechecksum(self):
self._writeword(self._crc & 0xFFFF)
val = self._readbyte()
if (len(val) > 0):
if val[0]:
return True
return False
def _write0(self, address, cmd):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write1(self, address, cmd, val):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writebyte(val)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write11(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writebyte(val1)
self._writebyte(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write111(self, address, cmd, val1, val2, val3):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writebyte(val1)
self._writebyte(val2)
self._writebyte(val3)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write2(self, address, cmd, val):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeword(val)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS2(self, address, cmd, val):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writesword(val)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write22(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeword(val1)
self._writeword(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS22(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writesword(val1)
self._writeword(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS2S2(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writesword(val1)
self._writesword(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS24(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writesword(val1)
self._writelong(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS24S24(self, address, cmd, val1, val2, val3, val4):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writesword(val1)
self._writelong(val2)
self._writesword(val3)
self._writelong(val4)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4(self, address, cmd, val):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS4(self, address, cmd, val):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeslong(val)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write44(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S4(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writeslong(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS4S4(self, address, cmd, val1, val2):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeslong(val1)
self._writeslong(val2)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write441(self, address, cmd, val1, val2, val3):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
self._writebyte(val3)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS441(self, address, cmd, val1, val2, val3):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeslong(val1)
self._writelong(val2)
self._writebyte(val3)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S4S4(self, address, cmd, val1, val2, val3):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writeslong(val2)
self._writeslong(val3)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S441(self, address, cmd, val1, val2, val3, val4):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writeslong(val2)
self._writelong(val3)
self._writebyte(val4)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4444(self, address, cmd, val1, val2, val3, val4):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
self._writelong(val3)
self._writelong(val4)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S44S4(self, address, cmd, val1, val2, val3, val4):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writeslong(val2)
self._writelong(val3)
self._writeslong(val4)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write44441(self, address, cmd, val1, val2, val3, val4, val5):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
self._writelong(val3)
self._writelong(val4)
self._writebyte(val5)
if self._writechecksum():
return True
trys = trys - 1
return False
def _writeS44S441(self, address, cmd, val1, val2, val3, val4, val5):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writeslong(val1)
self._writelong(val2)
self._writeslong(val3)
self._writelong(val4)
self._writebyte(val5)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S44S441(self, address, cmd, val1, val2, val3, val4, val5, val6):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writeslong(val2)
self._writelong(val3)
self._writeslong(val4)
self._writelong(val5)
self._writebyte(val6)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4S444S441(self, address, cmd, val1, val2, val3, val4, val5, val6, val7):
trys = self._trystimeout
while trys:
self._sendcommand(self, address, cmd)
self._writelong(val1)
self._writeslong(val2)
self._writelong(val3)
self._writelong(val4)
self._writeslong(val5)
self._writelong(val6)
self._writebyte(val7)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write4444444(self, address, cmd, val1, val2, val3, val4, val5, val6, val7):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
self._writelong(val3)
self._writelong(val4)
self._writelong(val5)
self._writelong(val6)
self._writelong(val7)
if self._writechecksum():
return True
trys = trys - 1
return False
def _write444444441(self, address, cmd, val1, val2, val3, val4, val5, val6, val7, val8, val9):
trys = self._trystimeout
while trys:
self._sendcommand(address, cmd)
self._writelong(val1)
self._writelong(val2)
self._writelong(val3)
self._writelong(val4)
self._writelong(val5)
self._writelong(val6)
self._writelong(val7)
self._writelong(val8)
self._writebyte(val9)
if self._writechecksum():
return True
trys = trys - 1
return False
# User accessible functions
def SendRandomData(self, cnt):
for i in range(0, cnt):
byte = random.getrandbits(8)
# self._port.write(chr(byte))
self._port.write(byte.to_bytes(1, 'big'))
return
def ForwardM1(self, address, val):
return self._write1(address, self.Cmd.M1FORWARD, val)
def BackwardM1(self, address, val):
return self._write1(address, self.Cmd.M1BACKWARD, val)
def SetMinVoltageMainBattery(self, address, val):
return self._write1(address, self.Cmd.SETMINMB, val)
def SetMaxVoltageMainBattery(self, address, val):
return self._write1(address, self.Cmd.SETMAXMB, val)
def ForwardM2(self, address, val):
return self._write1(address, self.Cmd.M2FORWARD, val)
def BackwardM2(self, address, val):
return self._write1(address, self.Cmd.M2BACKWARD, val)
def ForwardBackwardM1(self, address, val):
return self._write1(address, self.Cmd.M17BIT, val)
def ForwardBackwardM2(self, address, val):
return self._write1(address, self.Cmd.M27BIT, val)
def ForwardMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDFORWARD, val)
def BackwardMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDBACKWARD, val)
def TurnRightMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDRIGHT, val)
def TurnLeftMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDLEFT, val)
def ForwardBackwardMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDFB, val)
def LeftRightMixed(self, address, val):
return self._write1(address, self.Cmd.MIXEDLR, val)
def ReadEncM1(self, address):
return self._read4_1(address, self.Cmd.GETM1ENC)
def ReadEncM2(self, address):
return self._read4_1(address, self.Cmd.GETM2ENC)
def ReadSpeedM1(self, address):
return self._read4_1(address, self.Cmd.GETM1SPEED)
def ReadSpeedM2(self, address):
return self._read4_1(address, self.Cmd.GETM2SPEED)
def ResetEncoders(self, address):
return self._write0(address, self.Cmd.RESETENC)
def ReadVersion(self, address):
trys = self._trystimeout
while 1:
self._port.flushInput()
self._sendcommand(address, self.Cmd.GETVERSION)
str = ""
passed = True
for i in range(0, 48):
data = self._port.read(1)
if len(data):
val = ord(data)
self.crc_update(val)
if (val == 0):
break
# str+=data[0]
str += chr(data[0])
else:
passed = False
break
if passed:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF == crc[1] & 0xFFFF:
return (1, str)
else:
time.sleep(0.01)
trys -= 1
if trys == 0:
break
return (0, 0)
def SetEncM1(self, address, cnt):
return self._write4(address, self.Cmd.SETM1ENCCOUNT, cnt)
def SetEncM2(self, address, cnt):
return self._write4(address, self.Cmd.SETM2ENCCOUNT, cnt)
def ReadMainBatteryVoltage(self, address):
return self._read2(address, self.Cmd.GETMBATT)
def ReadLogicBatteryVoltage(self, address, ):
return self._read2(address, self.Cmd.GETLBATT)
def SetMinVoltageLogicBattery(self, address, val):
return self._write1(address, self.Cmd.SETMINLB, val)
def SetMaxVoltageLogicBattery(self, address, val):
return self._write1(address, self.Cmd.SETMAXLB, val)
def SetM1VelocityPID(self, address, p, i, d, qpps):
# return self._write4444(address,self.Cmd.SETM1PID,long(d*65536),long(p*65536),long(i*65536),qpps)
return self._write4444(address, self.Cmd.SETM1PID, d * 65536, p * 65536, i * 65536, qpps)
def SetM2VelocityPID(self, address, p, i, d, qpps):
# return self._write4444(address,self.Cmd.SETM2PID,long(d*65536),long(p*65536),long(i*65536),qpps)
return self._write4444(address, self.Cmd.SETM2PID, d * 65536, p * 65536, i * 65536, qpps)
def ReadISpeedM1(self, address):
return self._read4_1(address, self.Cmd.GETM1ISPEED)
def ReadISpeedM2(self, address):
return self._read4_1(address, self.Cmd.GETM2ISPEED)
def DutyM1(self, address, val):
return self._writeS2(address, self.Cmd.M1DUTY, val)
def DutyM2(self, address, val):
return self._writeS2(address, self.Cmd.M2DUTY, val)
def DutyM1M2(self, address, m1, m2):
return self._writeS2S2(address, self.Cmd.MIXEDDUTY, m1, m2)
def SpeedM1(self, address, val):
return self._writeS4(address, self.Cmd.M1SPEED, val)
def SpeedM2(self, address, val):
return self._writeS4(address, self.Cmd.M2SPEED, val)
def SpeedM1M2(self, address, m1, m2):
return self._writeS4S4(address, self.Cmd.MIXEDSPEED, m1, m2)
def SpeedAccelM1(self, address, accel, speed):
return self._write4S4(address, self.Cmd.M1SPEEDACCEL, accel, speed)
def SpeedAccelM2(self, address, accel, speed):
return self._write4S4(address, self.Cmd.M2SPEEDACCEL, accel, speed)
def SpeedAccelM1M2(self, address, accel, speed1, speed2):
return self._write4S4S4(address, self.Cmd.MIXEDSPEEDACCEL, accel, speed1, speed2)
def SpeedDistanceM1(self, address, speed, distance, buffer):
return self._writeS441(address, self.Cmd.M1SPEEDDIST, speed, distance, buffer)
def SpeedDistanceM2(self, address, speed, distance, buffer):
return self._writeS441(address, self.Cmd.M2SPEEDDIST, speed, distance, buffer)
def SpeedDistanceM1M2(self, address, speed1, distance1, speed2, distance2, buffer):
return self._writeS44S441(address, self.Cmd.MIXEDSPEEDDIST, speed1, distance1, speed2, distance2, buffer)
def SpeedAccelDistanceM1(self, address, accel, speed, distance, buffer):
return self._write4S441(address, self.Cmd.M1SPEEDACCELDIST, accel, speed, distance, buffer)
def SpeedAccelDistanceM2(self, address, accel, speed, distance, buffer):
return self._write4S441(address, self.Cmd.M2SPEEDACCELDIST, accel, speed, distance, buffer)
def SpeedAccelDistanceM1M2(self, address, accel, speed1, distance1, speed2, distance2, buffer):
return self._write4S44S441(address, self.Cmd.MIXEDSPEEDACCELDIST, accel, speed1, distance1, speed2, distance2,
buffer)
def ReadBuffers(self, address):
val = self._read2(address, self.Cmd.GETBUFFERS)
if val[0]:
return (1, val[1] >> 8, val[1] & 0xFF)
return (0, 0, 0)
def ReadPWMs(self, address):
val = self._read4(address, self.Cmd.GETPWMS)
if val[0]:
pwm1 = val[1] >> 16
pwm2 = val[1] & 0xFFFF
if pwm1 & 0x8000:
pwm1 -= 0x10000
if pwm2 & 0x8000:
pwm2 -= 0x10000
return (1, pwm1, pwm2)
return (0, 0, 0)
def ReadCurrents(self, address):
val = self._read4(address, self.Cmd.GETCURRENTS)
if val[0]:
cur1 = val[1] >> 16
cur2 = val[1] & 0xFFFF
if cur1 & 0x8000:
cur1 -= 0x10000
if cur2 & 0x8000:
cur2 -= 0x10000
return (1, cur1, cur2)
return (0, 0, 0)
def SpeedAccelM1M2_2(self, address, accel1, speed1, accel2, speed2):
return self._write4S44S4(address, self.Cmd.MIXEDSPEED2ACCEL, accel1, speed1, accel2, speed2)
def SpeedAccelDistanceM1M2_2(self, address, accel1, speed1, distance1, accel2, speed2, distance2, buffer):
return self._write4S444S441(address, self.Cmd.MIXEDSPEED2ACCELDIST, accel1, speed1, distance1, accel2, speed2,
distance2, buffer)
def DutyAccelM1(self, address, accel, duty):
return self._writeS24(address, self.Cmd.M1DUTYACCEL, duty, accel)
def DutyAccelM2(self, address, accel, duty):
return self._writeS24(address, self.Cmd.M2DUTYACCEL, duty, accel)
def DutyAccelM1M2(self, address, accel1, duty1, accel2, duty2):
return self._writeS24S24(address, self.Cmd.MIXEDDUTYACCEL, duty1, accel1, duty2, accel2)
def ReadM1VelocityPID(self, address):
data = self._read_n(address, self.Cmd.READM1PID, 4)
if data[0]:
data[1] /= 65536.0
data[2] /= 65536.0
data[3] /= 65536.0
return data
return (0, 0, 0, 0, 0)
def ReadM2VelocityPID(self, address):
data = self._read_n(address, self.Cmd.READM2PID, 4)
if data[0]:
data[1] /= 65536.0
data[2] /= 65536.0
data[3] /= 65536.0
return data
return (0, 0, 0, 0, 0)
def SetMainVoltages(self, address, min, max):
return self._write22(address, self.Cmd.SETMAINVOLTAGES, min, max)
def SetLogicVoltages(self, address, min, max):
return self._write22(address, self.Cmd.SETLOGICVOLTAGES, min, max)
def ReadMinMaxMainVoltages(self, address):
val = self._read4(address, self.Cmd.GETMINMAXMAINVOLTAGES)
if val[0]:
min = val[1] >> 16
max = val[1] & 0xFFFF
return (1, min, max)
return (0, 0, 0)
def ReadMinMaxLogicVoltages(self, address):
val = self._read4(address, self.Cmd.GETMINMAXLOGICVOLTAGES)
if val[0]:
min = val[1] >> 16
max = val[1] & 0xFFFF
return (1, min, max)
return (0, 0, 0)
def SetM1PositionPID(self, address, kp, ki, kd, kimax, deadzone, min, max):
# return self._write4444444(address,self.Cmd.SETM1POSPID,long(kd*1024),long(kp*1024),long(ki*1024),kimax,
# deadzone,min,max)
return self._write4444444(address, self.Cmd.SETM1POSPID, kd * 1024, kp * 1024, ki * 1024, kimax, deadzone, min,
max)
def SetM2PositionPID(self, address, kp, ki, kd, kimax, deadzone, min, max):
# return self._write4444444(address,self.Cmd.SETM2POSPID,long(kd*1024),long(kp*1024),long(ki*1024),kimax,
# deadzone,min,max)
return self._write4444444(address, self.Cmd.SETM2POSPID, kd * 1024, kp * 1024, ki * 1024, kimax, deadzone, min,
max)
def ReadM1PositionPID(self, address):
data = self._read_n(address, self.Cmd.READM1POSPID, 7)
if data[0]:
data[1] /= 1024.0
data[2] /= 1024.0
data[3] /= 1024.0
return data
return 0, 0, 0, 0, 0, 0, 0, 0
def ReadM2PositionPID(self, address):
data = self._read_n(address, self.Cmd.READM2POSPID, 7)
if data[0]:
data[1] /= 1024.0
data[2] /= 1024.0
data[3] /= 1024.0
return data
return 0, 0, 0, 0, 0, 0, 0, 0
def SpeedAccelDeccelPositionM1(self, address, accel, speed, deccel, position, buffer):
return self._write44441(address, self.Cmd.M1SPEEDACCELDECCELPOS, accel, speed, deccel, position, buffer)
def SpeedAccelDeccelPositionM2(self, address, accel, speed, deccel, position, buffer):
return self._write44441(address, self.Cmd.M2SPEEDACCELDECCELPOS, accel, speed, deccel, position, buffer)
def SpeedAccelDeccelPositionM1M2(self, address, accel1, speed1, deccel1, position1, accel2, speed2, deccel2,
position2, buffer):
return self._write444444441(address, self.Cmd.MIXEDSPEEDACCELDECCELPOS, accel1, speed1, deccel1, position1,
accel2, speed2, deccel2, position2, buffer)
def SetM1DefaultAccel(self, address, accel):
return self._write4(address, self.Cmd.SETM1DEFAULTACCEL, accel)
def SetM2DefaultAccel(self, address, accel):
return self._write4(address, self.Cmd.SETM2DEFAULTACCEL, accel)
def SetPinFunctions(self, address, S3mode, S4mode, S5mode):
return self._write111(address, self.Cmd.SETPINFUNCTIONS, S3mode, S4mode, S5mode)
def ReadPinFunctions(self, address):
trys = self._trystimeout
while 1:
self._sendcommand(address, self.Cmd.GETPINFUNCTIONS)
val1 = self._readbyte()
if val1[0]:
val2 = self._readbyte()
if val1[0]:
val3 = self._readbyte()
if val1[0]:
crc = self._readchecksumword()
if crc[0]:
if self._crc & 0xFFFF != crc[1] & 0xFFFF:
return (0, 0)
return (1, val1[1], val2[1], val3[1])
trys -= 1
if trys == 0:
break
return (0, 0)
def SetDeadBand(self, address, min, max):
return self._write11(address, self.Cmd.SETDEADBAND, min, max)
def GetDeadBand(self, address):
val = self._read2(address, self.Cmd.GETDEADBAND)
if val[0]:
return (1, val[1] >> 8, val[1] & 0xFF)
return (0, 0, 0)
# Warning(TTL Serial): Baudrate will change if not already set to 38400. Communications will be lost
def RestoreDefaults(self, address):
return self._write0(address, self.Cmd.RESTOREDEFAULTS)
def ReadTemp(self, address):
return self._read2(address, self.Cmd.GETTEMP)
def ReadTemp2(self, address):
return self._read2(address, self.Cmd.GETTEMP2)
def ReadError(self, address):
return self._read4(address, self.Cmd.GETERROR)
def ReadEncoderModes(self, address):
val = self._read2(address, self.Cmd.GETENCODERMODE)
if val[0]: