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DBDynamics.py
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DBDynamics.py
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#!/usr/bin/python3
import ctypes
import queue
import struct
import threading
import time
import serial
# import usb
# import usb.backend.libusb1
# Class for basic communication
# Each Stepper Group consist of 128 motors
class Ant:
# Communication Profiles, do not change them!
_INDEX_CONTROL_WORD = 0
_INDEX_OPERATION_MODE = 1
_INDEX_IO_OUT = 14
_INDEX_MEMORY = 30
_INDEX_DEVICE_ID = 31
_INDEX_RUNNING_CURRENT = 40
_INDEX_KEEPING_CURRENT = 42
_INDEX_HOMING_DIRECTION = 45
_INDEX_HOMING_LEVEL = 46
_INDEX_ACC_TIME = 47
_INDEX_TARGET_VELOCITY = 48
_INDEX_TARGET_POSITION = 49
_INDEX_ACTUAL_VELOCITY = 52
_INDEX_ACTUAL_POSITION = 53
_INDEX_IO_INPUT = 54
_INDEX_TX_FEEDBACK = 96
_INDEX_SINGLE_DIRECTION = 97
_SUBINDEX_WRITE = 0
_SUBINDEX_READ = 1
_SUBINDEX_WRITE_OK = 2
_SUBINDEX_READ_OK = 3
_OPERATION_MODE_PROFILE_VELOCITY = 21
_OPERATION_MODE_PROFILE_POSITION = 31
_OPERATION_MODE_HOMING = 40
_FUNC_CODE_TSDO = 0X580
_FUNC_CODE_FREE = 0X780
_FUNC_CODE_SYNC = 0X080
# # Variables
# _connection = 0
# # Motors consist of 128 motor cells, each motor has 1024 parameters
# _motors = numpy.zeros((128, 1024), dtype=numpy.int32)
# _thread1 = 0
# _thread_stop_flag = 0
# _tx_queue = queue.Queue()
# _tx_lock = threading.Lock()
# _rx_lock = threading.Lock()
# Connect to the serial port and establish the communication
def _connect(self):
self._connection = serial.Serial(self._portName, 1500000, timeout=0.1)
# Disconnect form the serial port and close the communication
def _disconnect(self):
self._thread_stop_flag = 1
self._connection.close()
# Analysis the Rx Message and Put the parameters into Each Motor
def _analysis(self, rx_message):
ret = 0
if len(rx_message) == 11:
self._rx_lock.acquire()
id = struct.unpack_from('h', rx_message, 0)
index = struct.unpack_from('h', rx_message, 2)
subindex = struct.unpack_from('h', rx_message, 4)
data = struct.unpack_from('i', rx_message, 6)
size = struct.unpack_from('B', rx_message, 10)
self._rx_lock.release()
func_code = id[0] & 0xff80
if func_code != self._FUNC_CODE_FREE:
device_id = id[0] & 0x007f
if device_id < 128:
if index[0] > -1:
if index[0] < 1024:
if subindex[0] == self._SUBINDEX_READ_OK:
# print(index[0])
self._motors[device_id][index[0]] = data[0]
ret = 1
elif subindex[0] == self._SUBINDEX_WRITE_OK:
ret = 1
else:
ret = 1
return ret
# Establish the Low Level Communication Process
# This Process Runs in a Background Process
def _linkProcess(self):
while self._thread_stop_flag == 0:
if self._broadcast_mode == 0:
self._tx_lock.acquire()
# print('msg length:', self._tx_queue.qsize())
if self._retransmitCounter == 0:
if not self._tx_queue.empty():
self._msg = self._tx_queue.get()
else:
struct.pack_into('h', self._msg, 0, self._FUNC_CODE_FREE)
struct.pack_into('h', self._msg, 2, *(0,))
struct.pack_into('h', self._msg, 4, *(0,))
struct.pack_into('i', self._msg, 6, *(0,))
self._tx_lock.release()
# time.sleep(0.01)
self._connection.write(self._msg)
self._analysis(self._connection.read(11))
self._connection.reset_input_buffer()
elif self._broadcast_mode == 1:
# time_start = time.time()
self._connection.write(self._broadcast_msg)
self._connection.read(11)
#
self._connection.reset_input_buffer()
# time_end = time.time()
# time_c = time_end - time_start
# print('time cost', time_c*1000, 'ms')
time.sleep(0.06)
# Send Message Function, Users would Call this Function to Send Messages
def _sendMessage(self, func_code, device_id, index, sub_index, data):
data = int(data)
id = (func_code + device_id,)
message = ctypes.create_string_buffer(10)
struct.pack_into('h', message, 0, *id)
struct.pack_into('h', message, 2, *(index,))
struct.pack_into('h', message, 4, *(sub_index,))
struct.pack_into('i', message, 6, *(data,))
self._tx_lock.acquire()
self._tx_queue.put(message)
self._tx_lock.release()
# Stop the communication
def stop(self):
time.sleep(0.5)
self._thread_stop_flag = 1
print('Python SDK for DBD Ant Stopped.')
def getXXX(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, 201, self._SUBINDEX_READ, 0)
self._sendMessage(self._FUNC_CODE_TSDO, id, 202, self._SUBINDEX_READ, 0)
self._sendMessage(self._FUNC_CODE_TSDO, id, 203, self._SUBINDEX_READ, 0)
self._sendMessage(self._FUNC_CODE_TSDO, id, 204, self._SUBINDEX_READ, 0)
def setXXX(self, id, sn, s1, s2, s3, s4):
self._sendMessage(self._FUNC_CODE_TSDO, id, 204, self._SUBINDEX_WRITE, sn)
self._sendMessage(self._FUNC_CODE_TSDO, id, 205, self._SUBINDEX_WRITE, s1)
self._sendMessage(self._FUNC_CODE_TSDO, id, 206, self._SUBINDEX_WRITE, s2)
self._sendMessage(self._FUNC_CODE_TSDO, id, 207, self._SUBINDEX_WRITE, s3)
self._sendMessage(self._FUNC_CODE_TSDO, id, 208, self._SUBINDEX_WRITE, s4)
def setSingleDirectionPositive(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_SINGLE_DIRECTION, self._SUBINDEX_WRITE, 1)
def setSingleDirectionNegative(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_SINGLE_DIRECTION, self._SUBINDEX_WRITE, -1)
def setSingleDirectionOff(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_SINGLE_DIRECTION, self._SUBINDEX_WRITE, 0)
def setTxFeedBackOn(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TX_FEEDBACK, self._SUBINDEX_WRITE, 1)
def setTxFeedBackOff(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TX_FEEDBACK, self._SUBINDEX_WRITE, 0)
def setPowerOn(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_CONTROL_WORD, self._SUBINDEX_WRITE, 1)
def setPowerOff(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_CONTROL_WORD, self._SUBINDEX_WRITE, 0)
def setTargetVelocity(self, id, value):
# Note: Unit: pulse/ms (50000 pulse per round), this unit nearly equals to RPM
# and for stepper motors, 0 to 300 is reasonable, higher speed will lose steps
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TARGET_VELOCITY, self._SUBINDEX_WRITE, value)
def setTargetPosition(self, id, value):
# Note: Unit pulse, with 50000 pulse per round, and the value in should in range from -2^31 to 2^31
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TARGET_POSITION, self._SUBINDEX_WRITE, value)
def setVelocityMode(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_OPERATION_MODE, self._SUBINDEX_WRITE,
self._OPERATION_MODE_PROFILE_VELOCITY)
def setPositionMode(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_OPERATION_MODE, self._SUBINDEX_WRITE,
self._OPERATION_MODE_PROFILE_POSITION)
def setHomingMode(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_OPERATION_MODE, self._SUBINDEX_WRITE,
self._OPERATION_MODE_HOMING)
def setHomingDirection(self, id, value):
if value == 1:
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_DIRECTION, self._SUBINDEX_WRITE,
1)
elif value == -1:
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_DIRECTION, self._SUBINDEX_WRITE,
-1)
else:
print("wrong value, please try 1 or -1.")
def setHomingLevel(self, id, value):
if value == 1:
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_LEVEL, self._SUBINDEX_WRITE,
1)
elif value == 0:
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_LEVEL, self._SUBINDEX_WRITE,
0)
else:
print("wrong value, please try 1 or 0.")
def setRunningCurrent(self, id, value):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_RUNNING_CURRENT, self._SUBINDEX_WRITE, value)
def setKeepingCurrent(self, id, value):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_KEEPING_CURRENT, self._SUBINDEX_WRITE, value)
def setAccTime(self, id, value):
# Note: acc time is a parameter for accelation and deaccelation progress, unit is ms, normally 200ms to 1000ms is reasonable
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_ACC_TIME, self._SUBINDEX_WRITE, value)
def setOutputIO(self, id, value):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_IO_OUT, self._SUBINDEX_WRITE, value)
def getInputIO(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_IO_INPUT, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_IO_INPUT]
def getActualVelocity(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_ACTUAL_VELOCITY, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_ACTUAL_VELOCITY]
def getActualPosition(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_ACTUAL_POSITION, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_ACTUAL_POSITION]
def getTargetVelocity(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TARGET_VELOCITY, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_TARGET_VELOCITY]
def getTargetPosition(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_TARGET_POSITION, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_TARGET_POSITION]
def getRunningCurrent(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_RUNNING_CURRENT, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_RUNNING_CURRENT]
def getKeepingCurrent(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_KEEPING_CURRENT, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_KEEPING_CURRENT]
def getAccTime(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_ACC_TIME, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_ACC_TIME]
def getHomingDirection(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_DIRECTION, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_HOMING_DIRECTION]
def getHomingLevel(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_HOMING_LEVEL, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_HOMING_LEVEL]
def waitHomingDone(self, id):
condition = 1
while condition:
vel = self.getActualVelocity(id)
if (vel == 0):
condition = 0
def waitTargetPositionReached(self, id):
condition = 1
while condition:
vel = self.getActualVelocity(id)
if (vel == 0):
condition = 0
# return value: 1 - success, -1 - timeout
def waitTargetPositionReachedTimeout(self, id, timeout):
condition = 1
counter = timeout / 50
ret = 0
t = 0
while condition:
vel = self.getActualVelocity(id)
if vel == 0:
condition = 0
ret = 1
t = t + 1
if t > counter:
condition = 0
ret = -1
return ret
def getDeviceID(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_DEVICE_ID, self._SUBINDEX_READ, 0)
time.sleep(0.05)
return self._motors[id][self._INDEX_DEVICE_ID]
def scanDevices(self):
online = []
self._retransmitLimit = 1
print('Searching Online Devices...')
for i in range(0, 121):
self._motors[i][self._INDEX_DEVICE_ID] = 0
for i in range(1, 121):
if i == self.getDeviceID(i):
online.append(i)
print('Online Devices:')
self._retransmitLimit = 3
print(online)
def saveParameters(self, id):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_MEMORY, self._SUBINDEX_WRITE, 1)
def changeID(self, id, value):
self._sendMessage(self._FUNC_CODE_TSDO, id, self._INDEX_DEVICE_ID, self._SUBINDEX_WRITE, value)
time.sleep(0.05)
self.saveParameters(value)
def setBroadCastMode(self, status):
if status:
print("Enter Message Broadcast Mode")
self._broadcast_mode = 1
else:
print("Exit Message Broadcast Mode")
self._broadcast_mode = 0
def setBroadcastPosition(self):
self._broadcast_msg[0] = 0x01
self._broadcast_msg[1] = self._INDEX_TARGET_POSITION
self._broadcast_msg[2] = 0x00
self._broadcast_msg[3] = 0x00
for i in range(1, 121):
struct.pack_into('i', self._broadcast_msg, i * 4, *(self.broadcast_position[i],))
def setBroadcastPowerOn(self):
self._broadcast_msg[0] = 0x01
self._broadcast_msg[1] = self._INDEX_CONTROL_WORD
self._broadcast_msg[2] = 0x00
self._broadcast_msg[3] = 0x00
struct.pack_into('120i', self._broadcast_msg, 4, *(1,) * 120)
time.sleep(0.1)
def setBroadcastPowerOff(self):
self._broadcast_msg[0] = 0x01
self._broadcast_msg[1] = self._INDEX_CONTROL_WORD
self._broadcast_msg[2] = 0x00
self._broadcast_msg[3] = 0x00
struct.pack_into('120i', self._broadcast_msg, 4, *(0,) * 120)
time.sleep(0.1)
# Init Process
def __init__(self, portName):
# Variables
self._connection = 0
# Motors consist of 128 motor cells, each motor has 1024 parameters
# self._motors = numpy.zeros((128, 1024), dtype=numpy.int32)
array = (ctypes.c_int32 * 1024 * 128)
self._motors = array()
pos_array = (ctypes.c_int32 * 128)
self.broadcast_position = pos_array()
self._thread_stop_flag = 0
self._retransmitCounter = 0
self._retransmitLimit = 10
self._tx_queue = queue.Queue()
self._tx_lock = threading.Lock()
self._rx_lock = threading.Lock()
self._broadcast_mode = 0
self._portName = portName
self._msg = ctypes.create_string_buffer(10)
self._broadcast_msg = ctypes.create_string_buffer(484)
self._connect()
self._thread1 = threading.Thread(target=self._linkProcess)
self._thread1.start()
print('Pyhton SDK for DBD Ant Started')
class Bee:
# Communication Profiles, do not change them!
_INDEX_BOARD_TYPE = 0
_INDEX_DEVICE_ID = 1
_INDEX_CONTROL_WORD = 2
_INDEX_OPERATION_MODE = 3
_INDEX_STATUS_WORD = 4
_INDEX_IO_OUT = 23
_INDEX_IO_OUT_ACC = 30
_INDEX_RUNNING_CURRENT = 17
_INDEX_KEEPING_CURRENT = 18
_INDEX_HOMING_DIRECTION = 14
_INDEX_HOMING_LEVEL = 15
_INDEX_ACC_TIME = 11
_INDEX_TARGET_VELOCITY = 7
_INDEX_TARGET_POSITION = 9
_INDEX_ACTUAL_VELOCITY = 8
_INDEX_ACTUAL_POSITION = 10
_INDEX_IO_INPUT = 22
# for state machine 2
_INDEX_TP0 = 25
_INDEX_TP1 = 26
_INDEX_ENCODER_VALUE = 26
# for state machine 1
_INDEX_SM1_TP0 = 25
_INDEX_SM1_TP1 = 26
_INDEX_SM1_TV0 = 27
_INDEX_SM1_TV1 = 28
_INDEX_SM1_TC = 29
_INDEX_SM1_TT0 = 30
_INDEX_SM1_TT1 = 31
# for StepperRGB
_INDEX_RED = 24
_INDEX_GREEN = 25
_INDEX_BLUE = 26
# for stepper d
_INDEX_CURRENT_BASE = 17
_INDEX_CURRENT_P = 18
_INDEX_CURRENT_N = 19
_FUNC_WRITE = 1
_FUNC_READ = 0
_FUNC_WRITE_OK = 3
_FUNC_READ_OK = 2
_FUNC_OPERATION = 4
_FUNC_OPERATION_OK = 5
_FUNC_FREE = 255
_OPERATION_MODE_PWM = 0
_OPERATION_MODE_PROFILE_VELOCITY = 21
_OPERATION_MODE_PROFILE_POSITION = 31
_OPERATION_MODE_INTERPOLATION_POSITION = 34
_OPERATION_MODE_HOMING = 40
_OPERATION_INDEX_MEMORY = 1
_STATUS_DEVICE_ENABLE = 0X01
_STATUS_HOMG_FIND = 0X02
_STATUS_TARGET_REACHED = 0X04
_STATUS_IO_INPUT = 0X08
# Variables
# _connection = 0
# # Motors consist of 128 motor cells, each motor has 1024 parameters
# _motors = 0
# _thread1 = 0
# _thread_stop_flag = 0
# _tx_queue = queue.Queue()
# _tx_lock = threading.Lock()
# _rx_lock = threading.Lock()
# Connect to the serial port and establish the communication
def _connect(self):
self._connection = serial.Serial(self._portName, self._baudrate, timeout=0.1)
# Disconnect form the serial port and close the communication
def _disconnect(self):
self._thread_stop_flag = 1
self._connection.close()
# Analysis the Rx Message and Put the parameters into Each Motor
def _analysis(self, rx_message):
if len(rx_message) == 8:
self._rx_lock.acquire()
func_code = struct.unpack_from('B', rx_message, 0)
index = struct.unpack_from('B', rx_message, 1)
id = struct.unpack_from('B', rx_message, 2)
subid = struct.unpack_from('B', rx_message, 3)
data = struct.unpack_from('i', rx_message, 4)
if func_code[0] == self._FUNC_READ_OK:
self._motors[id[0]][subid[0]][index[0]] = data[0]
self._rx_lock.release()
# Establish the Low Level Communication Process
# This Process Runs in a Background Process
def _linkProcess(self):
while self._thread_stop_flag == 0:
# while 1:
self._tx_lock.acquire()
# print('msg length:', self._tx_queue.qsize())
if not self._tx_queue.empty():
msg = self._tx_queue.get()
self._tx_lock.release()
self._connection.write(msg)
self._analysis(self._connection.read(8))
self._connection.reset_input_buffer()
else:
self._tx_lock.release()
time.sleep(0.01)
# Send Message Function, Users would Call this Function to Send Messages
def _sendMessage(self, func_code, index, id, subid, data):
message = ctypes.create_string_buffer(8)
struct.pack_into('B', message, 0, *(func_code,))
struct.pack_into('B', message, 1, *(index,))
struct.pack_into('B', message, 2, *(id,))
struct.pack_into('B', message, 3, *(subid,))
struct.pack_into('i', message, 4, int(*(data,)))
self._tx_lock.acquire()
self._tx_queue.put(message)
# print('append new message')
self._tx_lock.release()
# Stop the communication
def stop(self):
time.sleep(1)
self._thread_stop_flag = 1
print('Pyhton SDK for DBD Bee Stopped')
def setPowerOn(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CONTROL_WORD, id, 0, 1)
def setPowerOff(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CONTROL_WORD, id, 0, 0)
def setCurrentBase(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CURRENT_BASE, id, 0, value)
def setCurrentP(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CURRENT_P, id, 0, value)
def setCurrentN(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CURRENT_N, id, 0, value)
def setLEDRed(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_RED, id, 0, value)
def setLEDGreen(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_GREEN, id, 0, value)
def setLEDBlue(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_BLUE, id, 0, value)
def setTP0(self, id, value) -> object:
self._sendMessage(self._FUNC_WRITE, self._INDEX_TP0, id, 0, value)
def setTP1(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_TP1, id, 0, value)
def setSM1TP0(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TP0, id, 0, value)
def setSM1TP1(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TP1, id, 0, value)
def setSM1TV0(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TV0, id, 0, value)
def setSM1TV1(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TV1, id, 0, value)
def setSM1TC(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TC, id, 0, value)
def setSM1TT0(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TT0, id, 0, value)
def setSM1TT1(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_SM1_TT1, id, 0, value)
def setTargetVelocity(self, id, value):
# Note: Unit: pulse/ms (51200 pulse per round), this unit nearly equals to RPM
# and for stepper motors, 0 to 3000 is reasonable, higher speed will lose steps
self._motors[id][0][self._INDEX_TARGET_VELOCITY] = value
self._sendMessage(self._FUNC_WRITE, self._INDEX_TARGET_VELOCITY, id, 0, value)
def setTargetPosition(self, id, value):
# Note: Unit pulse, with 50000 pulse per round, and the value in should in range from -2^31 to 2^31
self._motors[id][0][self._INDEX_TARGET_POSITION] = int(value)
self._sendMessage(self._FUNC_WRITE, self._INDEX_TARGET_POSITION, id, 0, value)
def setPWMMode(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, 0, self._OPERATION_MODE_PWM)
def setVelocityMode(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, 0, self._OPERATION_MODE_PROFILE_VELOCITY)
def setPositionMode(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, 0, self._OPERATION_MODE_PROFILE_POSITION)
def setHomingMode(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, 0, self._OPERATION_MODE_HOMING)
def setInterpolationPositionMode(self, id):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, 0,
self._OPERATION_MODE_INTERPOLATION_POSITION)
def setRunningCurrent(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_RUNNING_CURRENT, id, 0, value)
def setKeepingCurrent(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_KEEPING_CURRENT, id, 0, value)
def setHomingDirection(self, id, value):
if value == 1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_DIRECTION, id, 0, 1)
elif value == -1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_DIRECTION, id, 0, -1)
else:
print("wrong value, please try 1 or -1.")
def setHomingLevel(self, id, value):
if value == 1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_LEVEL, id, 0, 1)
elif value == 0:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_LEVEL, id, 0, 0)
else:
print("wrong value, please try 1 or 0.")
def setAccTime(self, id, value):
# Note: acc time is a parameter for accelation and deaccelation progress, unit is ms, normally 200ms to 1000ms is reasonable
self._sendMessage(self._FUNC_WRITE, self._INDEX_ACC_TIME, id, 0, value)
def _delay(self):
if self._baudrate == 2000000:
time.sleep(0.05)
else:
time.sleep(0.2)
def getAccTime(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_ACC_TIME, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_ACC_TIME]
def setOutputIO(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_IO_OUT, id, 0, value)
def setOutputPWMACC(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_IO_OUT_ACC, id, 0, value)
def getHomingLevel(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_HOMING_LEVEL, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_HOMING_LEVEL]
def getHomingDirection(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_HOMING_DIRECTION, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_HOMING_DIRECTION]
def getRunningCurrent(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_RUNNING_CURRENT, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_RUNNING_CURRENT]
def getKeepingCurrent(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_KEEPING_CURRENT, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_KEEPING_CURRENT]
def getInputIO(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_IO_INPUT, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_IO_INPUT]
def getActualVelocity(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_ACTUAL_VELOCITY, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_ACTUAL_VELOCITY]
def getActualPosition(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_ACTUAL_POSITION, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_ACTUAL_POSITION]
def getTargetVelocity(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_TARGET_VELOCITY, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_TARGET_VELOCITY]
def getTargetPosition(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_TARGET_POSITION, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_TARGET_POSITION]
def getStatus(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_STATUS_WORD, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_STATUS_WORD]
def getEncoderValue(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_ENCODER_VALUE, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_ENCODER_VALUE]
def waitHomingDone(self, id):
condition = 1
while condition:
vel = self.getActualVelocity(id)
if vel == 0:
condition = 0
def waitTargetPositionReached(self, id):
condition = 1
time.sleep(0.5)
while condition:
if (self.getStatus(id) & self._STATUS_TARGET_REACHED) == self._STATUS_TARGET_REACHED:
condition = 0
def waitTargetPositionReachedPro(self, id):
condition = 1
while condition:
print(self.getActualPosition(id))
if self._motors[id][0][self._INDEX_ACTUAL_POSITION] == self._motors[id][0][self._INDEX_TARGET_POSITION]:
condition = 0
# return value: 1 - success, -1 - timeout
def waitTargetPositionReachedTimeout(self, id, timeout):
condition = 1
counter = timeout / 50
ret = 0
t = 0
while condition:
if (self.getStatus(id) & self._STATUS_TARGET_REACHED) == self._STATUS_TARGET_REACHED:
condition = 0
ret = 1
t = t + 1
if t > counter:
condition = 0
ret = -1
return ret
def getDeviceID(self, id):
self._sendMessage(self._FUNC_READ, self._INDEX_DEVICE_ID, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_DEVICE_ID]
def getDeviceType(self, id):
self._motors[id][0][self._INDEX_BOARD_TYPE] = 0
self._sendMessage(self._FUNC_READ, self._INDEX_BOARD_TYPE, id, 0, 0)
self._delay()
return self._motors[id][0][self._INDEX_BOARD_TYPE]
def scanDevices(self):
online = []
self.retransmitLimit = 0
print('Searching Online Devices...')
for i in range(0, 64):
self._motors[i][0][self._INDEX_BOARD_TYPE] = 0
for i in range(0, 64):
if self.getDeviceType(i) != 0:
online.append(i)
print('Online Devices:')
self.retransmitLimit = 3
# print(online)
return online
def saveParameters(self, id):
self._sendMessage(self._FUNC_OPERATION, self._OPERATION_INDEX_MEMORY, id, 0, 1)
def changeID(self, id, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_DEVICE_ID, id, 0, value)
self._delay()
self.saveParameters(value)
# Init Process
def __init__(self, portName, baudrate=2000000):
self._connection = 0
# Motors consist of 128 motor cells, each motor has 1024 parameters
# self._motors = 0
# self._thread1 = 0
self._thread_stop_flag = 0
self._tx_queue = queue.Queue()
self._tx_lock = threading.Lock()
self._rx_lock = threading.Lock()
self._portName = portName
self._baudrate = baudrate
self._connect()
self._thread1 = threading.Thread(target=self._linkProcess)
self._thread1.start()
array = (((ctypes.c_int32 * 32) * 8) * 64)
self._motors = array()
print('Pyhton SDK for DBD Bee Started')
class Elephant:
# Communication Profiles, do not change them!
_INDEX_BOARD_TYPE = 0
_INDEX_DEVICE_ID = 1
_INDEX_CONTROL_WORD = 2
_INDEX_OPERATION_MODE = 3
_INDEX_IO_OUT = 23
_INDEX_RUNNING_CURRENT = 17
_INDEX_KEEPING_CURRENT = 18
_INDEX_HOMING_DIRECTION = 14
_INDEX_HOMING_LEVEL = 15
_INDEX_ACC_TIME = 11
_INDEX_TARGET_VELOCITY = 7
_INDEX_TARGET_POSITION = 9
_INDEX_ACTUAL_VELOCITY = 8
_INDEX_ACTUAL_POSITION = 10
_INDEX_CURRENT_BOOST = 19
_INDEX_RUNTOKEEP_TIME = 20
_INDEX_BOOST_TIME = 21
_INDEX_IO_INPUT = 22
_INDEX_BAUDRATE = 27
_FUNC_WRITE = 1
_FUNC_READ = 0
_FUNC_WRITE_OK = 3
_FUNC_READ_OK = 2
_FUNC_OPERATION = 4
_FUNC_OPERATION_OK = 5
_FUNC_FREE = 255
_OPERATION_MODE_PROFILE_VELOCITY = 21
_OPERATION_MODE_PROFILE_POSITION = 31
_OPERATION_MODE_INTERPOLATION_POSITION = 34
_OPERATION_MODE_HOMING = 40
_OPERATION_INDEX_MEMORY = 1
# Variables
_connection = 0
# Motors consist of 128 motor cells, each motor has 1024 parameters
# _motors = numpy.zeros((32, 8, 32), dtype=numpy.int32)
array = (((ctypes.c_int32 * 32) * 8) * 32)
_motors = array()
_thread1 = 0
_thread_stop_flag = 0
_tx_queue = queue.Queue()
_tx_lock = threading.Lock()
_rx_lock = threading.Lock()
# Connect to the serial port and establish the communication
def _connect(self):
self._connection = serial.Serial(self._portName, 2000000, timeout=0.1)
# Disconnect form the serial port and close the communication
def _disconnect(self):
self._thread_stop_flag = 1
self._connection.close()
# Analysis the Rx Message and Put the parameters into Each Motor
def _analysis(self, rx_message):
if len(rx_message) == 8:
self._rx_lock.acquire()
func_code = struct.unpack_from('B', rx_message, 0)
index = struct.unpack_from('B', rx_message, 1)
id = struct.unpack_from('B', rx_message, 2)
subid = struct.unpack_from('B', rx_message, 3)
data = struct.unpack_from('i', rx_message, 4)
if func_code[0] == self._FUNC_READ_OK:
self._motors[id[0]][subid[0]][index[0]] = data[0]
self._rx_lock.release()
# Establish the Low Level Communication Process
# This Process Runs in a Background Process
def _linkProcess(self):
while self._thread_stop_flag == 0:
# while 1:
self._tx_lock.acquire()
# print('msg length:', self._tx_queue.qsize())
if not self._tx_queue.empty():
msg = self._tx_queue.get()
self._tx_lock.release()
self._connection.write(msg)
self._analysis(self._connection.read(8))
self._connection.reset_input_buffer()
else:
msg = ctypes.create_string_buffer(8)
struct.pack_into('B', msg, 0, self._FUNC_FREE)
struct.pack_into('B', msg, 1, *(0,))
struct.pack_into('B', msg, 2, *(0,))
struct.pack_into('B', msg, 3, *(0,))
struct.pack_into('i', msg, 4, int(*(0,)))
self._tx_lock.release()
time.sleep(0.02)
# Send Message Function, Users would Call this Function to Send Messages
def _sendMessage(self, func_code, index, id, subid, data):
message = ctypes.create_string_buffer(8)
struct.pack_into('B', message, 0, *(func_code,))
struct.pack_into('B', message, 1, *(index,))
struct.pack_into('B', message, 2, *(id,))
struct.pack_into('B', message, 3, *(subid,))
struct.pack_into('i', message, 4, int(*(data,)))
self._tx_lock.acquire()
self._tx_queue.put(message)
# print('append new message')
self._tx_lock.release()
# Stop the communication
def stop(self):
time.sleep(1)
self._thread_stop_flag = 1
print('Pyhton SDK for DBD Elephant Stopped')
def setPowerOn(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CONTROL_WORD, id, subid, 1)
def setPowerOff(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CONTROL_WORD, id, subid, 0)
def setTargetVelocity(self, id, subid, value):
# Note: Unit: pulse/ms (51200 pulse per round), this unit nearly equals to RPM
# and for stepper motors, 0 to 3000 is reasonable, higher speed will lose steps
self._sendMessage(self._FUNC_WRITE, self._INDEX_TARGET_VELOCITY, id, subid, value)
def setTargetPosition(self, id, subid, value):
# Note: Unit pulse, with 50000 pulse per round, and the value in should in range from -2^31 to 2^31
self._sendMessage(self._FUNC_WRITE, self._INDEX_TARGET_POSITION, id, subid, value)
def setVelocityMode(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, subid,
self._OPERATION_MODE_PROFILE_VELOCITY)
def setPositionMode(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, subid,
self._OPERATION_MODE_PROFILE_POSITION)
def setInterpolationPositionMode(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, subid,
self._OPERATION_MODE_INTERPOLATION_POSITION)
def setHomingMode(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_OPERATION_MODE, id, subid, self._OPERATION_MODE_HOMING)
def setHomingDirection(self, id, subid, value):
if value == 1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_DIRECTION, id, subid, 1)
elif value == -1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_DIRECTION, id, subid, -1)
else:
print("wrong value, please try 1 or -1.")
def setHomingLevel(self, id, subid, value):
if value == 1:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_LEVEL, id, subid, 1)
elif value == 0:
self._sendMessage(self._FUNC_WRITE, self._INDEX_HOMING_LEVEL, id, subid, 0)
else:
print("wrong value, please try 1 or 0.")
def setRunningCurrent(self, id, subid, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_RUNNING_CURRENT, id, subid, value)
def setKeepingCurrent(self, id, subid, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_KEEPING_CURRENT, id, subid, value)
def setBaudrate250Kbps(self, id, subid):
self._sendMessage(self._FUNC_WRITE, self._INDEX_BAUDRATE, id, subid, 5)
def setAccTime(self, id, subid, value):
# Note: acc time is a parameter for accelation and deaccelation progress, unit is ms, normally 200ms to 1000ms is reasonable
self._sendMessage(self._FUNC_WRITE, self._INDEX_ACC_TIME, id, subid, value)
def getAccTime(self, id, subid):
self._sendMessage(self._FUNC_READ, self._INDEX_ACC_TIME, id, subid, 0)
time.sleep(0.05)
return self._motors[id][subid][self._INDEX_ACC_TIME]
def setBoostTime(self, id, subid, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_BOOST_TIME, id, subid, value)
def setCurrentBoost(self, id, subid, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_CURRENT_BOOST, id, subid, value)
def setRuntoKeepTime(self, id, subid, value):
self._sendMessage(self._FUNC_WRITE, self._INDEX_RUNTOKEEP_TIME, id, subid, value)
def getHomingDirection(self, id, subid):
self._sendMessage(self._FUNC_READ, self._INDEX_HOMING_DIRECTION, id, subid, 0)
time.sleep(0.05)
return self._motors[id][subid][self._INDEX_HOMING_DIRECTION]
def getHomingLevel(self, id, subid):
self._sendMessage(self._FUNC_READ, self._INDEX_HOMING_LEVEL, id, subid, 0)
time.sleep(0.05)
return self._motors[id][subid][self._INDEX_HOMING_LEVEL]
def getInputIO(self, id, subid):
self._sendMessage(self._FUNC_READ, self._INDEX_IO_INPUT, id, subid, 0)
time.sleep(0.05)
return self._motors[id][subid][self._INDEX_IO_INPUT]
def getActualVelocity(self, id, subid):