forked from mikekaram/SMS_python
-
Notifications
You must be signed in to change notification settings - Fork 0
/
SMSLibrary.py
504 lines (368 loc) · 12.2 KB
/
SMSLibrary.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
import serial
import time
import sys
import platform
def checksum(cmd, bc, x):
ret = 0
ret ^= (cmd ^ bc)
for i in range(0, bc):
ret ^= x[i]
return ret
def getAnalogInResponse():
success = False
b = ser.read(6)
# The first 6 bytes are useless for us (2 header bytes + addressed and owned id + command id and byte count = 6 bytes)
ain = [0, 0, 0, 0]
if ord(b[5]) != 4:
return success, ain
success = True
for i in range(0, 4):
shift = 0
for j in range(0, 2):
b += ser.read()
ain[i] += (ord(b[2 * i + j + 6]) & 0xFF) << shift
shift += 8
b += ser.read()
# necessary for not leaving any garbage in the serial read interface (we have to read the lrc byte)
return success, ain
def getDigitalIOResponse():
success = False
b = ser.read(6)
dio1 = 0
dio2 = 0
dio3 = 0
# The first 6 bytes are useless for us (2 header bytes + addressed and owned id + command id and byte count = 6 bytes)
if ord(b[5]) != 1:
return success, dio1, dio2, dio3
else:
success = True
b += ser.read()
dio1 = ord(b[6]) & 0x01
dio2 = ord(b[6]) & 0x02
dio3 = ord(b[6]) & 0x04
b += ser.read()
# necessary for not leaving any garbage in the serial read interface (we have to read the lrc byte)
return success, dio1, dio2, dio3
def getResponse():
carrying_data = False
b = ser.read(6)
# The first 6 bytes are useless for us (2 header bytes + addressed and owned id + command id and byte count = 6 bytes)
num = 0
for i in range(0, ord(b[5])):
carrying_data = True
b += ser.read()
shift = i * 8
num += (ord(b[i + 6]) & 0xFF) << shift
b += ser.read()
# necessary for not leaving any garbage in the serial read interface (we have to read the lrc byte)
return carrying_data, num
def print_message():
print("Usage: [sudo] python SMSLibrary.py port_number command [Node Id] [value]\n")
print("Commands are: start [Node Id], stop [Node Id], reset [Node Id], startall, stopall, resetall,\n")
print("getvel [Node Id], getacc [Node Id], getpos [Node Id],\n")
print("move [Node Id] [start] [goal], setvel [Node Id] [value], setacc [Node Id] [value], test [Node Id]")
def send8Bytes(mid, cmd_id, value):
data = {}
data[7] = (value >> 56) & 0xff
data[6] = (value >> 48) & 0xff
data[5] = (value >> 40) & 0xff
data[4] = (value >> 32) & 0xff
data[3] = (value >> 24) & 0xff
data[2] = (value >> 16) & 0xff
data[1] = (value >> 8) & 0xff
data[0] = value & 0xff
lrc = checksum(cmd_id, 8, data)
command = bytearray(
[h_0, h_1, mid, '\x01', chr(cmd_id), '\x08', data[0], data[1], data[2], data[3], data[4], data[5], data[6],
data[7], lrc])
ser.write(command)
def send4Bytes(mid, cmd_id, value):
data = {}
data[3] = (value >> 24) & 0xff
data[2] = (value >> 16) & 0xff
data[1] = (value >> 8) & 0xff
data[0] = value & 0xff
lrc = checksum(cmd_id, 4, data)
command = bytearray(
[h_0, h_1, mid, '\x01', chr(cmd_id), '\x04', data[0], data[1], data[2], data[3], lrc])
ser.write(command)
def send2Bytes(mid, cmd_id, value):
data = {}
data[1] = (value >> 8) & 0xff
data[0] = value & 0xff
lrc = checksum(cmd_id, 2, data)
command = bytearray([h_0, h_1, mid, '\x01', chr(cmd_id), '\x02', data[0], data[1], lrc])
ser.write(command)
def sendByte(mid, cmd_id, value):
lrc = checksum(cmd_id, 1, value)
command = bytearray([h_0, h_1, mid, '\x01', chr(cmd_id), '\x01', value, lrc])
ser.write(command)
def sendCommand(mid, cmd_id):
command = bytearray([h_0, h_1, mid, '\x01', chr(cmd_id), '\x00', chr(cmd_id)])
ser.write(command)
def startall(startId, stopId):
for i in range(startId, stopId + 1):
start(i)
def stopall(startId, stopId):
for i in range(startId, stopId + 1):
stop(i)
def resetall(startId, stopId):
for i in range(startId, stopId + 1):
resetErrors(i)
#-----------------------------------------------------------------------------------------------------------------------
# Important! In Set Commands we return the not getResponse()[0] because getResponse() returns as it's first argument a boolean
# variable, carrying_data, which represents if the response carries any data. Because the response of the Set Commands
# doesn't carry any data, the carrying_data will be False (but the response to the command was successful).
# So we negate the getResponse()[0] to give as True for these commands.
#-----------------------------------------------------------------------------------------------------------------------
def setPIDgainP(mid, val):
send2Bytes(mid, 0, val)
return not getResponse()[0]
def setPIDgainI(mid, val):
send2Bytes(mid, 1, val)
return not getResponse()[0]
def setPIDgainD(mid, val):
send2Bytes(mid, 2, val)
return not getResponse()[0]
def setProfileAcceleration(mid, val):
send4Bytes(mid, 3, val)
return not getResponse()[0]
def setProfileConstantVelocity(mid, val):
send4Bytes(mid, 4, val)
return not getResponse()[0]
def setCurrentLimit(mid, val):
send2Bytes(mid, 5, val)
return not getResponse()[0]
def setDurationForCurrentLimit(mid, val):
send2Bytes(mid, 6, val)
return not getResponse()[0]
def moveWithVelocity(mid, val):
send4Bytes(mid, 7, val)
return not getResponse()[0]
def moveToAbsolutePosition(mid, pos):
send8Bytes(mid, 8, pos)
return not getResponse()[0]
def moveToRelativePosition(mid, pos):
send8Bytes(mid, 9, pos)
return not getResponse()[0]
def profiledMoveWithVelocity(mid, val):
send4Bytes(mid, 10, val)
return not getResponse()[0]
def profiledMoveToAbsolutePosition(mid, pos):
send8Bytes(mid, 11, pos)
return not getResponse()[0]
def profiledMoveToRelativePosition(mid, pos):
send8Bytes(mid, 12, pos)
return not getResponse()[0]
def setVelocitySetpoint(mid, val):
send4Bytes(mid, 13, val)
return not getResponse()[0]
def setAbsolutePositionSetpoint(mid, pos):
send8Bytes(mid, 14, pos)
return not getResponse()[0]
def setRelativePositionSetpoint(mid, pos):
send8Bytes(mid, 15, pos)
return not getResponse()[0]
def setProfiledVelocitySetpoint(mid, val):
send4Bytes(mid, 16, val)
return not getResponse()[0]
def setProfiledAbsolutePositionSetpoint(mid, pos):
send8Bytes(mid, 17, pos)
return not getResponse()[0]
def setProfiledRelativePositionSetpoint(mid, pos):
send8Bytes(mid, 18, pos)
return not getResponse()[0]
def configureDigitalIOs(mid, dio1, dio2, dio3):
data = {}
data[0] = 0
if (dio1):
data[0] |= 0x01
if (dio2):
data[0] |= 0x02
if (dio3):
data[0] |= 0x04
sendByte(mid, 19, data[0])
return not getResponse()[0]
def setDigitalOutputs(mid, dio1, dio2, dio3):
data = {}
data[0] = 0
if (dio1):
data[0] |= 0x01
if (dio2):
data[0] |= 0x02
if (dio3):
data[0] |= 0x04
sendByte(mid, 20, data[0])
return not getResponse()[0]
def setNodeID(oldNodeId, newNodeId):
data = {}
data[0] = newNodeId
lrc = checksum(21, 1, data)
command = bytearray(['\x55', '\xAA', oldNodeId, '\x01', '\x15', '\x01', data[0], lrc])
ser.write(command)
return not getResponse()[0]
def resetIncrementalPosition(mid):
sendCommand(mid, 24)
return not getResponse()[0]
def start(mid):
sendCommand(mid, 25)
# time.sleep(0.02)
return not getResponse()[0]
def halt(mid):
sendCommand(mid, 26)
# time.sleep(0.02)
return not getResponse()[0]
def stop(mid):
sendCommand(mid, 27)
# time.sleep(0.02)
return not getResponse()[0]
def resetErrors(mid):
sendCommand(mid, 30)
# time.sleep(0.02)
return not getResponse()[0]
def getPIDgainP(mid):
sendCommand(mid, 100)
return getResponse()
def getPIDgainI(mid):
sendCommand(mid, 101)
return getResponse()
def getPIDgainD(mid):
sendCommand(mid, 102)
return getResponse()
def getProfileAcceleration(mid):
sendCommand(mid, 103)
return getResponse()
def getProfileConstantVelocity(mid):
sendCommand(mid, 104)
return getResponse()
def getCurrentLimit(mid):
sendCommand(mid, 105)
return getResponse()
def getCurrentLimitDuration(mid):
sendCommand(mid, 106)
return getResponse()
def getDigitalIOConfiguration(mid, dio):
sendCommand(mid, 107)
return getDigitalIOResponse()
def getDigitalIn(mid, din):
sendCommand(mid, 109)
return getDigitalIOResponse()
def getAnalogIn(mid, ain):
sendCommand(mid, 110)
return getAnalogInResponse()
def getPosition(mid):
sendCommand(mid, 111)
return getResponse()
def getAbsolutePosition(mid):
sendCommand(mid, 112)
return getResponse()
def getVelocity(mid):
sendCommand(mid, 113)
return getResponse()
def getCurrent(mid):
sendCommand(mid, 114)
return getResponse()
def broadCastDoMove():
command = bytearray([0x55, 0xAA, 0x00, 0x01, 0xC8, 0x00, 0xC8])
ser.write(command)
return getResponse()
def broadcastStart():
command = bytearray([0x55, 0xAA, 0x00, 0x01, 0xC9, 0x00, 0xC9])
ser.write(command)
return True
def broadcastHalt():
command = bytearray([0x55, 0xAA, 0x00, 0x01, 0xCA, 0x00, 0xCA])
ser.write(command)
return True
def broadcastStop():
command = bytearray([0x55, 0xAA, 0x00, 0x01, 0xCB, 0x00, 0xCB])
ser.write(command)
return True
def init(port):
global ser, h_0, h_1
h_0 = '\x55'
h_1 = '\xAA'
port_string = ''
if(platform.system() == "Windows"):
port_string = 'COM%d' % port
elif(platform.system() == "Linux"):
port_string = '/dev/ttyUSB%d' % port
ser = serial.Serial(port_string, 57600, serial.EIGHTBITS, serial.PARITY_NONE, serial.STOPBITS_ONE)
def shut_down(port):
global ser
if ser.isOpen():
ser.close()
exit(0)
def main():
if (len(sys.argv) < 3):
print("Too few input arguments.\n")
print_message()
if(len(sys.argv) < 2):
exit(0)
else:
shut_down(int(sys.argv[1]))
elif (len(sys.argv) > 5):
print("Too many input arguments.\n")
print_message()
shut_down(int(sys.argv[1]))
init(int(sys.argv[1]))
if (sys.argv[2] == "getvel"):
ret = getVelocity(int(sys.argv[3]))
for b in ret:
print(ord(b))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "getpos"):
mid = int(sys.argv[3])
pos = getPosition(mid)
print(pos[0], float(pos[1]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "getacc"):
ret = getProfileAcceleration(int(sys.argv[3]))
for b in ret:
print(ord(b))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "setvel"):
setProfileConstantVelocity(int(sys.argv[3]), int(sys.argv[4]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "setacc"):
setProfileAcceleration(int(sys.argv[3]), int(sys.argv[4]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "startall"):
startall(0, 10)
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "start"):
start(int(sys.argv[3]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "stopall"):
stopall(0, 10)
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "stop"):
stop(int(sys.argv[3]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "resetall"):
resetall(0, 10)
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "reset"):
resetErrors(int(sys.argv[3]))
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "move"):
profiledMoveToAbsolutePosition(int(sys.argv[3]), int(sys.argv[4]))
time.sleep(0.02)
shut_down(int(sys.argv[1]))
if (sys.argv[2] == "test"):
angle = 0
direction = 1
step = 10
while 1:
# move(5, 1722*angle)
# time.sleep(0.01)
profiledMoveToAbsolutePosition(int(sys.argv[3]), angle)
print(angle)
angle = angle + direction * step
if int(angle) == 0:
direction = 1
if int(angle) == 15000:
direction = -1
time.sleep(0.03)
if __name__ == '__main__':
main()