forked from Solo-FL/SoloPy
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathmain.py
189 lines (102 loc) · 5.91 KB
/
main.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
from SoloPy import solo_motor_controller as Solo
import time
import sys
solo_address = 0
# High Speed High Performance Baudrate (Recommended)
# Use this baudrate to have the best and real performance
# of SOLO under all conditions 937500;
baudrate = 937500
# 115200 Low Speed Low Performance Baudrate
# Use this baudrate only for devices that don't support 937500 or 921600 baudrates.
# Uart port
port = "/dev/ttyS0"
# To get Usb port name, connect solo and enter the following command in terminal
# python -m serial.tools.list_ports -v
# port = "/dev/ttyAMC0" linux
# port = "COM8" windows
timeout = 10
solo = Solo.SoloMotorController(solo_address, baudrate, port, timeout)
print('get_firmwareVersion ', solo.get_firmware_version())
#print('set_command_mode: ', solo.set_command_mode(True))
#print('set_current_limit: ',solo.set_current_limit(21.21))
#print('set_torque_reference: ',solo.set_torque_reference(21.21))
#print('set_speed_reference: ',solo.set_speed_reference(2100))
#print('set_power_reference: ',solo.set_power_reference(21.21))
#print('set_identification: ',solo.set_identification(True))
# print('stop_system: ',solo.stop_system()) #need restart
#print('set_pwm_frequency: ',solo.set_pwm_frequency(21))
#print('set_speed_controller_Kp: ',solo.set_speed_controller_Kp(21.21))
#print('set_speed_controller_Ki: ',solo.set_speed_controller_Ki(21.21))
#print('set_direction: ',solo.set_direction(True))
#print('set_resistance: ',solo.set_resistance(21.21))
#print('set_inductance: ',solo.set_inductance(0.12))
#print('set_number_of_poles: ',solo.set_number_of_poles(21))
#print('set_encoder_lines: ',solo.set_encoder_lines(2121))
#print('set_speed_limit: ',solo.set_speed_limit(2121))
##print('reset_address: ',solo.reset_address())
#print('set_speed_control_mode: ',solo.set_speed_control_mode(2))
#print('reset_to_factory: ',solo.reset_to_factory())
#print('set_motor_type: ',solo.set_motor_type(2))
#print('set_control_mode: ',solo.set_control_mode(1))
# print('set_current_controller_kp: ',solo.set_current_controller_kp(21.21)) #need restart
# print('set_current_controller_ki: ',solo.set_current_controller_ki(21.21)) #need restart
#print('set_monitoring_mode: ',solo.set_monitoring_mode(2))
#print('set_magnetizing_current_reference: ',solo.set_magnetizing_current_reference(21.21))
#print('set_desired_position: ',solo.set_desired_position(2121))
#print('set_position_controller_kp: ',solo.set_position_controller_kp(21.21))
#print('set_position_controller_ki: ',solo.set_position_controller_ki(21.21))
##print('reset_position_to_zero: ',solo.reset_position_to_zero())
##print('overwrite_errors: ',solo.overwrite_errors())
#print('set_sog_normalBrushless_motor: ',solo.set_sog_normalBrushless_motor(21.21))
#print('set_sog_ultrafastBrushless_motor: ',solo.set_sog_ultrafastBrushless_motor(21.21))
#print('set_sog_dc_motor: ',solo.set_sog_dc_motor(21.21))
#print('set_sofg_normalBrushless_motor: ',solo.set_sofg_normalBrushless_motor(21.21))
#print('set_sofg_ultrafastBrushless_motor: ',solo.set_sofg_ultrafastBrushless_motor(21.21))
##print('set_uart_baudrate: ',solo.set_uart_baudrate(9600))
####################################### read ##########################################
#print('get_address: ',solo.get_address())
#print('get_voltage_a: ',solo.get_voltage_a())
#print('get_voltage_b: ',solo.get_voltage_b())
#print('get_current_a: ',solo.get_current_a())
#print('get_current_b: ',solo.get_current_b())
print('get_bus_voltage: ',solo.get_bus_voltage())
# print('get_motor_current: ',solo.get_motor_current()) #??
#print('get_motor_voltage: ',solo.get_motor_voltage())
#print('get_speed_controller_kp: ',solo.get_speed_controller_kp())
#print('get_speed_controller_ki: ',solo.get_speed_controller_ki())
print('get_Pwm_frequency: ',solo.get_Pwm_frequency())
print('SpeedLimit: ',solo.get_speed_limit())
#print('get_current_limit: ',solo.get_current_limit())
# print('get_quadrature_current: ',solo.get_quadrature_current()) #?? 8.27!
# print('get_direct_current: ',solo.get_direct_current()) #?? 5.025
#print('get_number_of_poles: ',solo.get_number_of_poles())
#print('get_encoder_lines: ',solo.get_encoder_lines())
#print('get_current_controller_kp: ',solo.get_current_controller_kp())
# print('get_current_controller_ki: ',solo.get_current_controller_ki()) #??
#print('get_temperature: ',solo.get_temperature())
#print('get_resistance: ',solo.get_resistance())
#print('get_inductance: ',solo.get_inductance())
#print('get_speed: ',solo.get_speed())
# print('get_motor_type: ',solo.get_motor_type()) #??
#print('get_speed_control_mode: ',solo.get_speed_control_mode())
# print('get_command_mode: ',solo.get_command_mode()) #??
# print('get_control_mode: ',solo.get_control_mode()) #??
#print('get_speed_limit: ',solo.get_speed_limit())
#print('get_position_controller_kp: ',solo.get_position_controller_kp())
#print('get_position_controller_ki: ',solo.get_position_controller_ki())
#print('get_encoder_position: ',solo.get_encoder_position())
#print('get_error_register: ',solo.get_error_register())
#print('get_firmware_version: ',solo.get_firmware_version())
#print('get_hardware_version: ',solo.get_hardware_version())
#print('get_torque_reference: ',solo.get_torque_reference())
#print('get_speed_reference: ',solo.get_speed_reference())
#print('get_magnetizing_current: ',solo.get_magnetizing_current())
#print('get_position_reference: ',solo.get_position_reference())
#print('get_power_reference: ',solo.get_power_reference())
#print('get_direction_rotation: ',solo.get_direction_rotation())
#print('get_sog_normalBrushless_motor: ',solo.get_sog_normalBrushless_motor())
#print('get_sog_ultraFastBrushless_motor: ',solo.get_sog_ultraFastBrushless_motor())
#print('get_sog_dc_motor: ',solo.get_sog_dc_motor())
#print('get_sofg_normalBrushless_motor: ',solo.get_sofg_normalBrushless_motor())
#print('get_sofg_ultraFastBrushless_motor: ',solo.get_sofg_ultraFastBrushless_motor())
print('get_uart_baudrate: ', solo.get_uart_baudrate())