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based on https://github.com/Tiryoh/RS30X
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#!/usr/bin/env python | |
# coding:utf-8 | |
""" | |
RS30X.py | |
Copyright (c) 2017 Shota Hirama <brast351-github@yahoo.co.jp> | |
Copyright (c) 2017 Daisuke Sato <tiryoh@gmail.com> | |
Copyright (c) 2019 Yasuki Ikeuchi <ikeyasu@gmail.com> | |
Permission is hereby granted, free of charge, to any person obtaining a copy | |
of this software and associated documentation files (the "Software"), to deal | |
in the Software without restriction, including without limitation the rights | |
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | |
copies of the Software, and to permit persons to whom the Software is | |
furnished to do so, subject to the following conditions: | |
The above copyright notice and this permission notice shall be included in all | |
copies or substantial portions of the Software. | |
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | |
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | |
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | |
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | |
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | |
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | |
SOFTWARE. | |
""" | |
import serial | |
import struct | |
class RS304MD(object): | |
def __init__(self, port = "/dev/ttyUSB0"): | |
PORT = port | |
BAUDRATE = 115200 | |
BYTESIZE = serial.EIGHTBITS | |
PARITY = serial.PARITY_NONE | |
STOPBIT = serial.STOPBITS_ONE | |
TIMEOUT = 1 | |
self.ser = serial.Serial(PORT, BAUDRATE, BYTESIZE, PARITY, STOPBIT, TIMEOUT) | |
def __del__(self): | |
self.ser.close() | |
def __bytecreateid(self, id): | |
return [0xFA, 0xAF, id] | |
def __checksum(self, checklist): | |
sum = 0 | |
for i in range(2, len(checklist)): | |
sum ^= checklist[i] | |
checklist.append(sum) | |
return checklist | |
def __write(self, servolist): | |
self.ser.write("".join(map(chr, servolist))) | |
def __read(self, servo_id): | |
b = self.ser.read(26 * 2) | |
return b, b.find(b'\xfd\xdf' + struct.pack("B", servo_id)) | |
def __readData(self, servo_id, start, end): | |
b, offset = self.__read(servo_id) | |
return b[offset + start:offset + end] | |
def __requestStatus(self, servo_id): | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x09, 0x00, 0x00, 0x01]) | |
self.__write(self.__checksum(a)) | |
def __flash(self, servo_id): | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x40, 0xFF, 0x00, 0x00]) | |
self.__write(self.__checksum(a)) | |
def setAngle(self, servo_id, set_angle): | |
angle = max(-150.0, min(150.0, set_angle)) | |
angle = int(angle * 10) | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x00, 0x1E, 0x02, 0x01, (angle & 0xFF), (angle & 0xFF00) >> 8]) | |
self.__write(self.__checksum(a)) | |
def setAngleInTime(self, servo_id, set_angle, set_goal_time): | |
angle = max(-150.0, min(150.0, set_angle)) | |
angle = int(angle * 10) | |
goal_time = int(set_goal_time * 100) | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x00, 0x1E, 0x04, 0x01, angle & 0xFF, (angle & 0xFF00) >> 8, goal_time & 0xFF, (goal_time & 0xFF00) >> 8]) | |
self.__write(self.__checksum(a)) | |
def setTorque(self, servo_id, onoff): | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x00, 0x24, 0x01, 0x01, int(onoff)]) | |
self.__write(self.__checksum(a)) | |
def setBreak(self, servo_id, onoff): | |
if onoff == 1 : self.setTorque(servo_id, 2) | |
else : self.setTorque(servo_id, onoff) | |
def setServoId(self, servo_id, dest): | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x00, 0x04, 0x01, 0x01, dest]) | |
self.__write(self.__checksum(a)) | |
self.__flash(servo_id) | |
def setMaxTorque(self, servo_id, max_torque): | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x00, 0x23, 0x01, 0x01, int(max_torque)]) | |
self.__write(self.__checksum(a)) | |
self.__flash(servo_id) | |
def read(self, servo_id): | |
def u(x): | |
return struct.unpack("<h", x)[0] | |
self.__requestStatus(servo_id) | |
b, offset = self.__read(servo_id) | |
angle = u(b[offset + 7:offset + 9]) / 10.0 | |
time = u(b[offset + 9:offset + 11]) * 10.0 | |
speed = u(b[offset + 11:offset + 13]) | |
current = u(b[offset + 13:offset + 15]) | |
temperature = u(b[offset + 15:offset + 17]) | |
voltage = u(b[offset + 17:offset + 19]) * 10 | |
return angle, time, speed, current, temperature, voltage | |
def readAngle(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.__readData(servo_id, 7, 9) | |
return struct.unpack("<h", b)[0] / 10.0 | |
def readTime(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.__readData(servo_id, 9, 11) | |
return struct.unpack("<h", b)[0] * 10 | |
def readSpeed(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.__readData(servo_id, 11, 13) | |
return struct.unpack("<h", b)[0] | |
def readCurrent(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.__readData(servo_id, 13, 15) | |
return struct.unpack("<h", b)[0] | |
def readTemperature(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.ser.read(26)[15:17] | |
b = self.__readData(servo_id, 15, 17) | |
return struct.unpack("<h", b)[0] | |
def readVoltage(self, servo_id): | |
self.__requestStatus(servo_id) | |
b = self.__readData(servo_id, 17, 19) | |
return struct.unpack("<h", b)[0] * 10 | |
def readTorqueStatus(self, servo_id): | |
# TODO: check | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x0F, 0x24, 0x02, 0x00]) | |
self.__write(self.__checksum(a)) | |
b = self.ser.read(9)[7:9] | |
return struct.unpack("<h", b)[0] | |
def reboot(self, servo_id): | |
# TODO: check | |
a = self.__bytecreateid(servo_id) | |
a.extend([0x20, 0xFF, 0x00, 0x00]) | |
self.__write(self.__checksum(a)) | |
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from time import sleep | |
import RS30X | |
import random | |
servo = RS30X.RS304MD('/dev/tty.usbserial-AD0JDVZA') | |
servo.setTorque(1, True) | |
angle = random.randint(-150, 150) | |
print(angle) | |
servo.setAngle(1, angle) | |
print(repr(servo.read(1))) | |
print(repr(servo.read(1))) | |
print(repr(servo.read(1))) | |
print(repr(servo.read(1))) | |
print(repr(servo.read(1))) |
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