Rcb4_ex03.py
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開始行:
[[Rcb4_ex02.py]]
** Rcb4_ex03.py [#g3c4e1bc]
- 2026 5/3 以下の Rcb4_ex03.py で Servo モータ１個動作。
-- Rcb4_ex01.pyが動作しなかったのは Rcb4BaseLib.py の set...
#code(Python){{
#coding: UTF-8
import sys
import time
sys.path.append('../Rcb4Lib') #Rcb4Libの検索パスを追加
from Rcb4BaseLib import Rcb4BaseLib #Rcb4BaseL...
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,bundrat...
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())
sio=0x01
(tf,pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,4000)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,11000)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rcb4.close()
}}
----
** setPos2 [#nfa932d4]
- Rcb4BaseLib.py に def setPos2(...):を追加 [#u6e18ded]
#code(Python){{
def setPos2 (self, id, sio, position):
print(f"setPos2( id={id:02x}, sio={sio:02x},posit...
data_l=position & 0xff
position=position>>8
data_h=position & 0xff
buf=[]
buf.append(data_l)
buf.append(data_h)
buf.append(0x00)
icsNum=id*2+(sio-1)
rtn=self.moveComToDeviceCmdSynchronize(icsNum, 0x...
return rtn
}}
----
** 実行結果 [#r37358d9]
(testpip) pi@rpi-202603261445:~/python/RCB4Lib_for_Pytho...
open comName=/dev/ttyUSB0 bundrate=115200 timOut=1.3
self.com=Serial<id=0xb66ee700, open=True>(port='/dev/tty...
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,80,a0,]
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
checkAcknowledge OK
Version --> 220
get config moveRamToComCmdSynchronize( scrAddr=00, scrDa...
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,13,80,98,]
8013
get pio moveRamToComCmdSynchronize( scrAddr=3a, scrDataS...
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, ...
sendData->[0a,00,20,00,00,00,22,00,16,62,]
readData-->[19,00,32,01,01,00,02,00,02,00,01,00,01,00,22...
(True, [306, 1, 2, 2, 1, 1, 34, 37, 34, 34, 36])
voltage moveRamToComCmdSynchronize( scrAddr=22, scrDataS...
sendData->[0a,00,20,00,00,00,22,00,02,4e,]
readData-->[05,00,32,01,38,]
7.3212890625
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
setPos2( id=01, sio=01,position=0fa0 4000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,c6,0f,da,]
True pos=4038
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,48,1d,6a,]
True pos=7496
setPos2( id=01, sio=01,position=2af8 11000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,eb,2a,1a,]
True pos=10987
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
(testpip) pi@rpi-202603261445:~/python/RCB4Lib_for_Pytho...
----
#counter
終了行:
[[Rcb4_ex02.py]]
** Rcb4_ex03.py [#g3c4e1bc]
- 2026 5/3 以下の Rcb4_ex03.py で Servo モータ１個動作。
-- Rcb4_ex01.pyが動作しなかったのは Rcb4BaseLib.py の set...
#code(Python){{
#coding: UTF-8
import sys
import time
sys.path.append('../Rcb4Lib') #Rcb4Libの検索パスを追加
from Rcb4BaseLib import Rcb4BaseLib #Rcb4BaseL...
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,bundrat...
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())
sio=0x01
(tf,pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,4000)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,11000)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rtn=rcb4.setPos2(1,1,7500)
time.sleep(0.5)
sio=0x01
(tf, pos)=rcb4.getSinglePos(1,sio)
print(tf,end="")
print(' pos=',end="")
print(pos)
rcb4.close()
}}
----
** setPos2 [#nfa932d4]
- Rcb4BaseLib.py に def setPos2(...):を追加 [#u6e18ded]
#code(Python){{
def setPos2 (self, id, sio, position):
print(f"setPos2( id={id:02x}, sio={sio:02x},posit...
data_l=position & 0xff
position=position>>8
data_h=position & 0xff
buf=[]
buf.append(data_l)
buf.append(data_h)
buf.append(0x00)
icsNum=id*2+(sio-1)
rtn=self.moveComToDeviceCmdSynchronize(icsNum, 0x...
return rtn
}}
----
** 実行結果 [#r37358d9]
(testpip) pi@rpi-202603261445:~/python/RCB4Lib_for_Pytho...
open comName=/dev/ttyUSB0 bundrate=115200 timOut=1.3
self.com=Serial<id=0xb66ee700, open=True>(port='/dev/tty...
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,80,a0,]
sendData->[04,fe,06,08,]
readData-->[04,fe,06,08,]
checkAcknowledge OK
Version --> 220
get config moveRamToComCmdSynchronize( scrAddr=00, scrDa...
sendData->[0a,00,20,00,00,00,00,00,02,2c,]
readData-->[05,00,13,80,98,]
8013
get pio moveRamToComCmdSynchronize( scrAddr=3a, scrDataS...
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, ...
sendData->[0a,00,20,00,00,00,22,00,16,62,]
readData-->[19,00,32,01,01,00,02,00,02,00,01,00,01,00,22...
(True, [306, 1, 2, 2, 1, 1, 34, 37, 34, 34, 36])
voltage moveRamToComCmdSynchronize( scrAddr=22, scrDataS...
sendData->[0a,00,20,00,00,00,22,00,02,4e,]
readData-->[05,00,32,01,38,]
7.3212890625
getSinglePos( id=01, sio=01)
moveDevicetoComCmdSynchronize( icsNum=02, offset=04, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
setPos2( id=01, sio=01,position=0fa0 4000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,c6,0f,da,]
True pos=4038
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,48,1d,6a,]
True pos=7496
setPos2( id=01, sio=01,position=2af8 11000)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,eb,2a,1a,]
True pos=10987
setPos2( id=01, sio=01,position=1d4c 7500)
moveComToDeviceCmdSynchronize( icsNum=02, offset=06,dest...
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, dat...
moveDevicetoComCmd( icsNum=02, offset=04, dataSize=02)
sendData->[0a,00,21,00,00,00,04,02,02,33,]
readData-->[05,00,50,1d,72,]
True pos=7504
(testpip) pi@rpi-202603261445:~/python/RCB4Lib_for_Pytho...
----
#counter
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