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---

#author("2026-05-05T11:27:34+09:00","default:TESLA2","TESLA2")
#author("2026-05-05T19:31:29+09:00","default:TESLA2","TESLA2")
[[TESLA2]]

** 2026 5/5 08:05 [#j0d706e3]
- /dev/ttyUSB0 を作成、
- 以下を実行
 cd ~/python 
 source testpip/bin/activate
 cd RCB4Lib_for_python_V1008/sample
- 以下を実行。

#code(Python){{
pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $ python3 Rcb4_ex03.py
open comName=/dev/ttyUSB0 bundrate=115200 timOut=1.3
self.com=Serial<id=0xb6687448, open=True>(port='/dev/ttyUSB0', baudrate=115200, bytesize=8, parity='E', stopbits=1, timeout=1.3, xonxoff=False, rtscts=False, dsrdtr=False)
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
moveRamToComCmdSynchronize( scrAddr=00, scrDataSize=02)
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,1b,83,a3,]
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
checkAcknowledge OK
Version    --> 220
get config moveRamToComCmdSynchronize( scrAddr=00, scrDataSize=02)
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,1b,83,a3,]
831b
get pio moveRamToComCmdSynchronize( scrAddr=3a, scrDataSize=02)
sendData->[0a,00,20,00,00,00,3a,00,02,66,]
readData-->[05,00,00,2c,31,]
0
get all ad data moveRamToComCmdSynchronize( scrAddr=22, scrDataSize=16)
sendData->[0a,00,20,00,00,00,22,00,16,62,]
readData-->[19,00,3a,01,02,00,01,00,01,00,00,00,02,00,22,00,25,00,24,00,23,00,24,00,0c,]
(True, [314, 2, 1, 1, 0, 2, 34, 37, 36, 35, 36])
voltage moveRamToComCmdSynchronize( scrAddr=22, scrDataSize=02)
sendData->[0a,00,20,00,00,00,22,00,02,4e,]
readData-->[05,00,3a,01,40,]
7.5126953125
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,15,19,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
setPos2( id=01, sio=01,position=0fa0 4000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[a0,0f,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[a0,0f,00,]
sendData->[0a,00,12,06,02,00,a0,0f,00,d3,]
readData-->[04,00,15,19,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,15,19,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
setPos2( id=01, sio=01,position=2af8 11000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[f8,2a,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[f8,2a,00,]
sendData->[0a,00,12,06,02,00,f8,2a,00,46,]
readData-->[04,00,15,19,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,15,19,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[]
False pos=-1
pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $ date
Tue  5 May 08:05:13 JST 2026
pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $
}}

- 昨日動いていたサーボモータが動作せず。上の
 setPos2( id=01, sio=01,position=1d4c 7500)

がサーボモータ id=01, sio=01 を 7500(中心)に回すことを表す。
 moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
 destData=[4c,1d,00,]
 moveComToDeviceCmd( icsNum=02, offset=06,destData)
 destData=[4c,1d,00,]
 sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
 readData-->[04,00,15,19,]
の 最後のreadData ->[04,00,15,19]の 15 (0x0f)が、実行エラーを表す。

-- 
---- 
** 2026 5/5 08:14 [#ldb65d5d]

- Heart to Haert を起動。Pi Zero のUSB connector に接続していたDural USB connector (Rcb4-miniと接続している) を Heart to Heart を起動しているPCに接続しなおして、Heart to Heart のメニューからCOMポートを選択して接続

- xx
&ref(20260505/h2h-sync-failed-0814.png,50%);

** 2026 5/5 08:14 [#be4bce1d]

&ref(20260505/h2h-move2ram-0816.png,50%);

&ref(20260505/h2h-setPos-success-0818.png,50%);


#code(python){{
pi@rpi-202605041447:~ $ pwd
/home/pi
pi@rpi-202605041447:~ $ cd python
pi@rpi-202605041447:~/python $ cat start_tesla2.sh
#!/usr/bin/bash
sleep 120
xhost +
export DISPLAY=:0.0
cd /home/pi/python
source testpip/bin/activate
sudo modprobe ftdi-sio
sudo chmod 666 /sys/bus/usb-serial/drivers/ftdi_sio/new_id
sudo echo 165C 0008 > /sys/bus/usb-serial/drivers/ftdi_sio/new_id
sudo chmod 644 /sys/bus/usb-serial/drivers/ftdi_sio/new_id

pi@rpi-202605041447:~/python $ sudo modprobe ftdi-sio
sudo chmod 666 /sys/bus/usb-serial/drivers/ftdi_sio/new_id
sudo echo 165C 0008 > /sys/bus/usb-serial/drivers/ftdi_sio/new_id
sudo chmod 644 /sys/bus/usb-serial/drivers/ftdi_sio/new_id
[sudo] password for pi:
pi@rpi-202605041447:~/python $ ls /dev/tty*
/dev/tty    /dev/tty19  /dev/tty3   /dev/tty40  /dev/tty51  /dev/tty62
/dev/tty0   /dev/tty2   /dev/tty30  /dev/tty41  /dev/tty52  /dev/tty63
/dev/tty1   /dev/tty20  /dev/tty31  /dev/tty42  /dev/tty53  /dev/tty7
/dev/tty10  /dev/tty21  /dev/tty32  /dev/tty43  /dev/tty54  /dev/tty8
/dev/tty11  /dev/tty22  /dev/tty33  /dev/tty44  /dev/tty55  /dev/tty9
/dev/tty12  /dev/tty23  /dev/tty34  /dev/tty45  /dev/tty56  /dev/ttyprintk
/dev/tty13  /dev/tty24  /dev/tty35  /dev/tty46  /dev/tty57  /dev/ttyS0
/dev/tty14  /dev/tty25  /dev/tty36  /dev/tty47  /dev/tty58  /dev/ttyUSB0
/dev/tty15  /dev/tty26  /dev/tty37  /dev/tty48  /dev/tty59
/dev/tty16  /dev/tty27  /dev/tty38  /dev/tty49  /dev/tty6
/dev/tty17  /dev/tty28  /dev/tty39  /dev/tty5   /dev/tty60
/dev/tty18  /dev/tty29  /dev/tty4   /dev/tty50  /dev/tty61
pi@rpi-202605041447:~/python $ source testpip/bin/activate
(testpip) pi@rpi-202605041447:~/python $ cd RCB4Lib_for_Python_V100B
(testpip) pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B $ cd sample
(testpip) pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $ ls
Rcb4AckTest.py   Rcb4_ex01.py~  Rcb4_ex03.py       Rcb4MotionPlay.py~
Rcb4AckTest.py~  Rcb4_ex02.py   Rcb4_ex03.py~      Rcb4SetKrrButton.py
Rcb4_ex01.py     Rcb4_ex02.py~  Rcb4MotionPlay.py  Rcb4SetKrrButton.py~
(testpip) pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $ python3 Rcb4_ex03.py
open comName=/dev/ttyUSB0 bundrate=115200 timOut=1.3
self.com=Serial<id=0xb668e700, open=True>(port='/dev/ttyUSB0', baudrate=115200, bytesize=8, parity='E', stopbits=1, timeout=1.3, xonxoff=False, rtscts=False, dsrdtr=False)
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
moveRamToComCmdSynchronize( scrAddr=00, scrDataSize=02)
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,13,80,98,]
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
checkAcknowledge OK
Version    --> 220
get config moveRamToComCmdSynchronize( scrAddr=00, scrDataSize=02)
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,1b,80,a0,]
801b
get pio moveRamToComCmdSynchronize( scrAddr=3a, scrDataSize=02)
sendData->[0a,00,20,00,00,00,3a,00,02,66,]
readData-->[05,00,00,2c,31,]
0
get all ad data moveRamToComCmdSynchronize( scrAddr=22, scrDataSize=16)
sendData->[0a,00,20,00,00,00,22,00,16,62,]
readData-->[19,00,38,01,02,00,01,00,02,00,01,00,01,00,24,00,23,00,23,00,23,00,24,00,0a,]
(True, [312, 2, 1, 2, 1, 1, 36, 35, 35, 35, 36])
voltage moveRamToComCmdSynchronize( scrAddr=22, scrDataSize=02)
sendData->[0a,00,20,00,00,00,22,00,02,4e,]
readData-->[05,00,39,01,3f,]
7.48876953125
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,ed,20,12,]
True pos=8429
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,06,0a,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,55,1d,77,]
True pos=7509
setPos2( id=01, sio=01,position=0fa0 4000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[a0,0f,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[a0,0f,00,]
sendData->[0a,00,12,06,02,00,a0,0f,00,d3,]
readData-->[04,00,06,0a,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,af,0f,c3,]
True pos=4015
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,06,0a,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,43,1d,65,]
True pos=7491
setPos2( id=01, sio=01,position=2af8 11000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[f8,2a,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[f8,2a,00,]
sendData->[0a,00,12,06,02,00,f8,2a,00,46,]
readData-->[04,00,06,0a,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,f1,2a,20,]
True pos=10993
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
moveComToDeviceCmd( icsNum=02, offset=06,destData)
destData=[4c,1d,00,]
sendData->[0a,00,12,06,02,00,4c,1d,00,8d,]
readData-->[04,00,06,0a,]
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dataSize=02)
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,55,1d,77,]
True pos=7509
(testpip) pi@rpi-202605041447:~/python/RCB4Lib_for_Python_V100B/sample $ date
Tue  5 May 08:27:24 JST 2026
}}
----
#counter

       

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