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demo21_flxie2_get_param.py
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demo21_flxie2_get_param.py
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#!/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 argparse
import os
sys.path.append(os.path.join(os.path.dirname(__file__), '../..'))
from utapi.utra.utra_api_tcp import UtraApiTcp
from utapi.utra.utra_flxie_api import UtraFlxiE2Api
if __name__ == '__main__':
u"""This is a demo to get the parameters, status and other information of FLXI E on the robot.
run command:
python3 example / utra / demo21_flxie2_get_param.py - -ip 192.168.1.xxx
"""
parser = argparse.ArgumentParser()
parser.description = 'UTRA demo'
parser.add_argument("--ip", help=" ", default="127.0.0.1", type=str)
args = parser.parse_args()
ubot = UtraApiTcp(args.ip)
fixie = UtraFlxiE2Api(ubot, 101)
ret1, uuid = fixie.get_uuid()
print("get_uuid: %d, uuid = %s" % (ret1, uuid))
ret1, version = fixie.get_sw_version()
print("get_sw_version: %d, version = %s" % (ret1, version))
ret1, version = fixie.get_hw_version()
print("get_hw_version: %d, version = %s" % (ret1, version))
print(" ")
ret1, value = fixie.get_temp_limit()
print("get_temp_limit: %d, value = %d %d" % (ret1, value[0], value[1]))
ret1, value = fixie.get_volt_limit()
print("get_volt_limit: %d, value = %d %d" % (ret1, value[0], value[1]))
ret1, value = fixie.get_curr_limit()
print("get_curr_limit: %d, value = %f" % (ret1, value))
print(" ")
ret, value = fixie.get_motion_mode()
print("get_motion_mode : %d, value = %d" % (ret, value))
ret, value = fixie.get_motion_enable()
print("get_motion_enable: %d, value = %d" % (ret, value))
ret, value = fixie.get_temp_driver()
print("get_temp_driver : %d, value = %.1f" % (ret, value))
ret, value = fixie.get_temp_motor()
print("get_temp_motor : %d, value = %.1f" % (ret, value))
ret, value = fixie.get_bus_volt()
print("get_bus_volt : %d, value = %.1f" % (ret, value))
ret, value = fixie.get_bus_curr()
print("get_bus_curr : %d, value = %.1f" % (ret, value))
ret, value = fixie.get_error_code()
print("get_error_code : %d, value = %d" % (ret, value))
print(" ")
ret, value = fixie.get_vel_limit_min()
print("get_vel_limit_min : %d, value = %f" % (ret, value))
ret, value = fixie.get_vel_limit_max()
print("get_vel_limit_max : %d, value = %f" % (ret, value))
ret, value = fixie.get_tau_limit_min()
print("get_tau_limit_min : %d, value = %f" % (ret, value))
ret, value = fixie.get_tau_limit_max()
print("get_tau_limit_max : %d, value = %f" % (ret, value))
print(" ")
ret, value = fixie.get_pos_target()
print("get_pos_target : %d, value = %f" % (ret, value))
ret, value = fixie.get_pos_current()
print("get_pos_current: %d, value = %f" % (ret, value))
ret, value = fixie.get_tau_target()
print("get_tau_target : %d, value = %f" % (ret, value))
ret, value = fixie.get_tau_current()
print("get_tau_current: %d, value = %f" % (ret, value))
ret, pid_p = fixie.get_pos_pidp()
print("get_pos_pid : %d, pid_p = %d" % (ret, pid_p))
ret, pid_p = fixie.get_tau_pidp()
ret, pid_i = fixie.get_tau_pidi()
print("get_tau_pid : %d, pid_p = %d, pid_p = %d\n" % (ret, pid_p, pid_i))
ret, value = fixie.get_pos_smooth_cyc()
print("get_pos_smooth_cyc: %d, value = %d" % (ret, value))
ret, value = fixie.get_tau_smooth_cyc()
print("get_tau_smooth_cyc: %d, value = %d" % (ret, value))
ret, acc = fixie.get_pos_adrc_param(3)
ret, b2 = fixie.get_pos_adrc_param(9)
ret, b3 = fixie.get_pos_adrc_param(10)
ret, h1 = fixie.get_pos_adrc_param(12)
ret, d = fixie.get_pos_adrc_param(14)
print("get_pos_adrc_param: %d, value = %f %f %f %f %f" % (ret, acc, b2, b3, h1, d))
ret, acc = fixie.get_tau_adrc_param(3)
ret, b2 = fixie.get_tau_adrc_param(9)
ret, b3 = fixie.get_tau_adrc_param(10)
ret, h1 = fixie.get_tau_adrc_param(12)
ret, d = fixie.get_tau_adrc_param(14)
print("get_tau_adrc_param: %d, value = %f %f %f %f %f" % (ret, acc, b2, b3, h1, d))
ret, value = fixie.get_senser()
print("get_senser: %d, value = %f %f %f %f" % (ret, value[0], value[1], value[2], value[3]))