/
send_pwm.py
executable file
·50 lines (34 loc) · 1.06 KB
/
send_pwm.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
#!/usr/bin/env python3
"""
Sends a PWM via UAVCAN
"""
import argparse
import uavcan
import os
DSDL_DIR = os.path.join(os.path.dirname(__file__), '../uavcan_data_types/cvra')
def parse_args():
parser = argparse.ArgumentParser(description=__doc__)
parser.add_argument(
"port",
help="SocketCAN interface (e.g. can0) or SLCAN serial port (e.g. /dev/ttyACM0)"
)
parser.add_argument("id", help="ID of the board to target", type=int)
parser.add_argument(
"value",
help="Values to set the PWM channels to (4 items)",
type=float,
nargs=4)
return parser.parse_args()
def send_pwm(node, dst_id, values):
msg = uavcan.thirdparty.cvra.io.ServoPWM(node_id=dst_id, servo_pos=values)
node.broadcast(msg, priority=uavcan.TRANSFER_PRIORITY_HIGHEST)
def main():
args = parse_args()
node = uavcan.make_node(args.port, node_id=42)
uavcan.load_dsdl(DSDL_DIR)
send_pwm(node, args.id, args.value)
# Spin node for 1 second
node.spin(1)
node.close()
if __name__ == '__main__':
main()