X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fengine_man_test.py;h=a62a50d4375d4fa70450fb58bd21f7681306efb8;hp=b3bb8808e53474b380ced88bd71071a03cc312b1;hb=3c14550f0f80e0a22777e62036e7b0c4209baa5a;hpb=390d3bf8a69f3cd23dae064db94865d3a38fe948

diff --git a/scripts/engine_man_test.py b/scripts/engine_man_test.py
index b3bb880..a62a50d 100755
--- a/scripts/engine_man_test.py
+++ b/scripts/engine_man_test.py
@@ -7,12 +7,22 @@ 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))
+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(float(sys.argv[1]), float(sys.argv[2]))
+	i2c_write_reg(0x50, 0x90, struct.pack("BBBB", 1, 1, 0, 0)) # switch direction
+	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))
-		print speed1, speed2, speed3, speed4
+		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)