demo2_flxie2_motion_torque.py

#!/usr/bin/env python3
#
# Copyright (C) 2021 UmbraTek Inc. All Rights Reserved.
#
# Software License Agreement (BSD License)
#
# Author: Jimy Zhang <jimy.zhang@umbratek.com> <jimy92@163.com>
# =============================================================================
import sys
import time
import os

sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from utapi.flxie.flxie2_api_serial import FlxiE2ApiSerial


def check_ret(ret, fun):
    if ret == 0:
        print("Good! successfully %s" % fun)
    else:
        print("Error! Failed %s %d" % (fun, ret))


def main():
    u"""
    This demo is to control the device to move to the specified torque.
    The gripper ID is 101 and RS485 baud rate is 921600.
    Linux requires super user privileges to run code
    run command(USB-To-RS485 + COM:/dev/ttyUSB0):
        python3 example/flxie/demo2_flxie2_motion_torque.py
    """
    flxi = FlxiE2ApiSerial("/dev/ttyUSB0", 921600)  # instantiate the flxi executor api class
    flxi.connect_to_id(101)  # The ID of the connected target actuator, where the ID is 1

    ret = flxi.set_motion_mode(3)  # Set actuator motion mode 3: current mode
    check_ret(ret, "set_motion_mode")
    ret = flxi.set_motion_enable(1)  # Enable actuator
    check_ret(ret, "set_motion_enable")
    ret = flxi.set_tau_target(0.8)  # Set actuator motion current 0.8A
    check_ret(ret, "set_tau_target")

    while 1:
        time.sleep(0.01)


if __name__ == '__main__':
    main()