scripts/engine_man_test.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import sys
   5 import struct
   6 from time import sleep
   7 from i2c import i2c_write_reg, i2c_read_reg
   8
   9
  10 def set_pwm(left, right):
  11         i2c_write_reg(0x50, 0x1, struct.pack(">h", left))
  12         i2c_write_reg(0x50, 0x3, struct.pack(">h", left))
  13         i2c_write_reg(0x50, 0x5, struct.pack(">h", right))
  14         i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
  15
  16 if __name__ == "__main__":
  17         set_pwm(int(sys.argv[1]), int(sys.argv[2]))
  18
  19         while True:
  20                 motor1, = struct.unpack(">B", i2c_read_reg(0x50, 0x2, 1))
  21                 motor2, = struct.unpack(">B", i2c_read_reg(0x50, 0x4, 1))
  22                 motor3, = struct.unpack(">B", i2c_read_reg(0x50, 0x6, 1))
  23                 motor4, = struct.unpack(">B", i2c_read_reg(0x50, 0x8, 1))
  24                 speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
  25                 error,  = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))
  26                 print "PWM:", motor1, motor2, motor3, motor4, "Speed:", speed1, speed2, speed3, speed4, "Error:", error
  27                 sleep(0.1)