added test_speed script

[ros_wild_thumper.git] / scripts / test_speed.py

diff --git a/scripts/test_speed.py b/scripts/test_speed.py
new file mode 100755 (executable)
index 0000000..022112e
--- /dev/null
+++ b/scripts/test_speed.py
@@ -0,0 +1,25 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import struct
+from i2c import *
+from datetime import datetime
+from time import sleep
+
+def get_pos():
+       s = i2c_read_reg(0x50, 0x10, 8)
+       hall1, hall2, hall3, hall4 = struct.unpack(">hhhh", s)
+       return hall1, hall2, hall3, hall4
+
+if __name__ == "__main__":
+       i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction
+       speed = 255
+       i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", speed, speed, speed, speed))
+       start = datetime.now()
+       for i in range(100):
+               diff = datetime.now() - start
+               status = get_pos()
+               print "%d.%03d: %d %d %d %d" % ((diff.seconds, diff.microseconds/1000) + status)
+               sleep(0.01)
+       speed = 0
+       i2c_write_reg(0x50, 0x1, struct.pack(">hhhh", speed, speed, speed, speed))