motor_ctrl: pid tuning

[ros_wild_thumper.git] / scripts / engine_man_test.py

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
new file mode 100755 (executable)
index 0000000..ae639ae
--- /dev/null
+++ b/scripts/engine_man_test.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import struct
+from time import sleep
+from i2c import i2c_write_reg, i2c_read_reg
+
+
+def set_pwm(left, right):
+       i2c_write_reg(0x50, 0x1, struct.pack(">h", left))
+       i2c_write_reg(0x50, 0x3, struct.pack(">h", left))
+       i2c_write_reg(0x50, 0x5, struct.pack(">h", right))
+       i2c_write_reg(0x50, 0x7, struct.pack(">h", right))
+
+if __name__ == "__main__":
+       set_pwm(int(sys.argv[1]), int(sys.argv[2]))
+
+       while True:
+               motor1, = struct.unpack(">B", i2c_read_reg(0x50, 0x2, 1))
+               motor2, = struct.unpack(">B", i2c_read_reg(0x50, 0x4, 1))
+               motor3, = struct.unpack(">B", i2c_read_reg(0x50, 0x6, 1))
+               motor4, = struct.unpack(">B", i2c_read_reg(0x50, 0x8, 1))
+               speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
+               error,  = struct.unpack(">B", i2c_read_reg(0x50, 0xA1, 1))
+               print "PWM:", motor1, motor2, motor3, motor4, "Speed:", speed1, speed2, speed3, speed4, "Error:", error
+               sleep(0.1)