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signs_of_life.py~
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signs_of_life.py~
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import dynamixel
import sys
from datetime import datetime
import numpy as np
__author__ = 'ksongaloosh'
central_position = 512 # (range: 0 to 1023)
#serial_port = '/dev/tty.usbserial-AI03QD8V'
serial_port = '/dev/ttyUSB0'
serial = dynamixel.SerialStream(port=serial_port,
baudrate=1000000,
timeout=1)
net = dynamixel.DynamixelNetwork(serial)
servos = [2, 3]
for servo_id in servos:
new_dynamixel = dynamixel.Dynamixel(servo_id, net)
net._dynamixel_map[servo_id] = new_dynamixel
if not net.get_dynamixels():
print("no servos found")
sys.exit(0)
print("servos found")
print("setting register constants...")
for actuator in net.get_dynamixels():
actuator._set_ccw_compliance_slope(32)
actuator._set_cw_compliance_slope(32)
actuator._set_ccw_compliance_margin(1)
actuator._set_cw_compliance_margin(0)
print("controlling via encoder...")
print(" moving to centre")
while abs(net.get_dynamixels()[0].current_position - 512) > 2 and \
abs(net.get_dynamixels()[1].current_position - 512) > 2:
for actuator in net.get_dynamixels():
actuator.moving_speed = 100
actuator.torque_enable = 1
actuator.torque_limit = 800
actuator.max_torque = 800
actuator.goal_position = 512
net.synchronize()
# ===================================================================================================================
# Move the Servos
# ===================================================================================================================
print(" performing ballet")
goal_pos = central_position + 10
while goal_pos < 600:
while abs(net.get_dynamixels()[0].current_position - goal_pos) > 5 and \
abs(net.get_dynamixels()[1].current_position - goal_pos) > 5:
for actuator in net.get_dynamixels():
actuator.moving_speed = 50
actuator.torque_enable = 1
actuator.torque_limit = 700
actuator.max_torque = 700
actuator.goal_position = goal_pos
net.synchronize()
goal_pos += 20
print(" moving the other way")
goal_pos = central_position
while goal_pos > 300:
while abs(net.get_dynamixels()[0].current_position - goal_pos) > 5 and \
abs(net.get_dynamixels()[1].current_position - goal_pos) > 5:
for actuator in net.get_dynamixels():
actuator.moving_speed = 50
actuator.torque_enable = 1
actuator.torque_limit = 700
actuator.max_torque = 700
actuator.goal_position = goal_pos
net.synchronize()
goal_pos -= 20
# ===================================================================================================================
# changing torque
# ===================================================================================================================
print("Moving for 10 seconds without torque...")
start = datetime.now()
goal_pos = central_position
while (abs(net.get_dynamixels()[0].current_position - goal_pos) > 5 and \
abs(net.get_dynamixels()[1].current_position - goal_pos) > 5) and \
(datetime.now()-start).seconds < 10:
for actuator in net.get_dynamixels():
actuator.moving_speed = 50
actuator.torque_enable = 0
actuator.torque_limit = 0
actuator.max_torque = 700
actuator.goal_position = goal_pos
net.synchronize()
# ===================================================================================================================
# changing compliance
# ===================================================================================================================
# here CW means "clock-wise" and CCW means "counter clock-wise"
print("moving 30 seconds with maxed compliance...")
start = datetime.now()
goal_pos = central_position
amount = 20
for actuator in net.get_dynamixels():
actuator._set_ccw_compliance_slope(254)
actuator._set_cw_compliance_slope(254)
actuator._set_ccw_compliance_margin(0)
actuator._set_cw_compliance_margin(1)
print("cw angle limit ", actuator.cw_angle_limit)
print("ccw angle limit ", actuator.ccw_angle_limit)
print("cw compliance margin ", actuator.cw_compliance_margin)
print("ccw compliance margin ", actuator.ccw_compliance_margin)
print("cw compliance slope ", actuator.cw_compliance_slope)
print("ccw compliance slope ", actuator.ccw_compliance_slope)
while(datetime.now()-start).seconds < 30:
while (abs(net.get_dynamixels()[0].current_position - goal_pos) > 5 and \
abs(net.get_dynamixels()[1].current_position - goal_pos) > 5):
for actuator in net.get_dynamixels():
actuator.moving_speed = 50
actuator.torque_enable = 1
actuator.torque_limit = 700
actuator.max_torque = 700
actuator.goal_position = goal_pos
net.synchronize()
goal_pos += amount
if goal_pos > 700:
amount = -20
elif goal_pos < 300:
amount = 20
print("wating for a minute with maxed compliance and 20")
for actuator in net.get_dynamixels():
actuator._set_torque_enable(0)
start = datetime.now()
while (datetime.now()-start).seconds <60:
pass
# ===================================================================================================================
# Minute or longer of control
# ===================================================================================================================
# resetting compliance
for actuator in net.get_dynamixels():
actuator._set_ccw_compliance_slope(32)
actuator._set_cw_compliance_slope(32)
actuator._set_ccw_compliance_margin(1)
actuator._set_cw_compliance_margin(0)
print("moving for 3 minutes...")
start = datetime.now()
amount = 100
goal_pos = central_position
while (datetime.now() - start).seconds / 60 < 3:
if goal_pos > 750:
amount = -100
elif goal_pos < 250:
amount = 100
while abs(net.get_dynamixels()[0].current_position - goal_pos) > 5 and \
abs(net.get_dynamixels()[1].current_position - goal_pos) > 5:
for actuator in net.get_dynamixels():
actuator.moving_speed = 50
actuator.torque_enable = True
actuator.torque_limit = 700
actuator.max_torque = 700
actuator.goal_position = goal_pos
net.synchronize()
goal_pos += amount
print("done")
# store the data
# real-time plotting