From 126edeb2696bb7635a9607b5d6bac8e21a4507c1 Mon Sep 17 00:00:00 2001
From: Erik Andresen <erik@vontaene.de>
Date: Thu, 31 Mar 2016 20:41:45 +0200
Subject: [PATCH] addded script to get motor step response

---
 config/razor.yaml        |  4 ++--
 scripts/step_response.py | 18 ++++++++++++++++++
 2 files changed, 20 insertions(+), 2 deletions(-)
 create mode 100755 scripts/step_response.py

diff --git a/config/razor.yaml b/config/razor.yaml
index 5b48693..48c57b2 100644
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [250.567, 49.8387, -698.641]
-magn_ellipsoid_transform: [[0.940458, 0.0129812, 0.0164252], [0.0129812, 0.947417, 0.0255152], [0.0164252, 0.0255152, 0.978453]]
+magn_ellipsoid_center: [252.957, 54.6821, -690.632]
+magn_ellipsoid_transform: [[0.953315, 0.00715770, 0.00266159], [0.00715770, 0.931906, 0.0360847], [0.00266159, 0.0360847, 0.979971]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
diff --git a/scripts/step_response.py b/scripts/step_response.py
new file mode 100755
index 0000000..9f74ab9
--- /dev/null
+++ b/scripts/step_response.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import struct
+from time import sleep
+from i2c import i2c_write_reg, i2c_read_reg
+
+
+def set_pwm(val):
+	i2c_write_reg(0x50, 0x1, struct.pack(">H", val))
+	i2c_write_reg(0x50, 0x3, struct.pack(">H", val))
+	i2c_write_reg(0x50, 0x5, struct.pack(">H", val))
+	i2c_write_reg(0x50, 0x7, struct.pack(">H", val))
+
+if __name__ == "__main__":
+	set_pwm(210)
+	sleep(3)
+	set_pwm(0)
-- 
2.39.5