wt_node: Transision from 4x TLE5205 to 2x VNH2SP30

[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..b3bb880
--- /dev/null
+++ b/scripts/engine_man_test.py
@@ -0,0 +1,18 @@
+#!/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(trans, rot):
+       i2c_write_reg(0x50, 0x50, struct.pack(">ff", trans, rot))
+
+if __name__ == "__main__":
+       set(float(sys.argv[1]), float(sys.argv[2]))
+       while True:
+               speed1, speed2, speed3, speed4 = struct.unpack(">hhhh", i2c_read_reg(0x50, 0x30, 8))
+               print speed1, speed2, speed3, speed4
+               sleep(0.1)