addded script to get motor step response

[ros_wild_thumper.git] / scripts / step_response.py

diff --git a/scripts/step_response.py b/scripts/step_response.py
new file mode 100755 (executable)
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)