Rcb4_ex01.py の履歴(No.1)

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r_Python_V100B/sample/Rcb4_ex01.py
#coding: UTF-8
import sys
import time
sys.path.append('../Rcb4Lib') #Rcb4Libの検索パスを追加
 
from Rcb4BaseLib import Rcb4BaseLib            #Rcb4BaseLib.pyの中のRcb4BaseLib が使えるように設定
 
import time                   #timeが使えるように宣言
 
rcb4 = Rcb4BaseLib()      #rcb4をインスタンス(定義)
 
#ポートをオープン
#rcb4.open('/dev/ttyAMA0',115200,1.3)  #(portName,bundrate,timeout(s))
rcb4.open('/dev/ttyUSB0',115200,1.3)
 
#ACKコマンドを送ってRCB4と接続できるか確認
if rcb4.checkAcknowledge() == True:
    print ('checkAcknowledge OK')
    print ('Version    -->' ,rcb4.Version)
else:
    print ('checkAcknowledge error')
 
print('get config ', end="")
print(f"{rcb4.getConfig():x}")
 
print('get pio ',end="")
print(f"{rcb4.getPio():x}")
 
print('get all ad data ',end="")
print(f"{rcb4.getAllAdData()}")
 
print('voltage ',end="")
print(rcb4.getRcb4Voltage())
 
#:rcb4.setHoldSingleServo(1,0x01)
 
rtn=rcb4.setSingleServo(1,0x01,7500,30)
print('setSingleServo return:', end="")
print(rtn)
 
time.sleep(0.1)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rtn=rcb4.setSingleServo(1,0x01,3000,30)
print('setSingleServo return:', end="")
print(rtn)
 
time.sleep(0.1)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rtn=rcb4.setSingleServo(1,0x01,7500,30)
print('setSingleServo return:', end="")
print(rtn)
 
time.sleep(0.1)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rtn=rcb4.setSingleServo(1,0x01,11000,30)
print('setSingleServo return:', end="")
print(rtn)
 
time.sleep(0.1)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rtn=rcb4.setSingleServo(1,0x01,7500,30)
print('setSingleServo return:', end="")
print(rtn)
 
time.sleep(0.1)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rcb4.setFreeSingleServo(1,0x01)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
 
rcb4.close()