X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fengine_man_test.py;fp=scripts%2Fengine_man_test.py;h=ae639ae74af2a555e34471d1962eea11dd9562c3;hp=0000000000000000000000000000000000000000;hb=3bc8d7f92277a953cfcee5781d5875f040d7f028;hpb=1d95fd8a372e93eafd14666c0145b8afcbc14700

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
new file mode 100755
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)