From ece97d94709b5e779ec2a48cf47319163a122bc5 Mon Sep 17 00:00:00 2001 From: Erik Andresen Date: Fri, 14 Aug 2015 01:16:49 +0000 Subject: [PATCH] updated to motor controller --- scripts/i2c.py | 18 ++++++++++++++++++ scripts/move_base.py | 7 ++++--- 2 files changed, 22 insertions(+), 3 deletions(-) diff --git a/scripts/i2c.py b/scripts/i2c.py index 2e9a109..4522c5f 100755 --- a/scripts/i2c.py +++ b/scripts/i2c.py @@ -5,6 +5,7 @@ import threading import inspect import os import logging +import struct from ctypes import * from time import sleep @@ -62,6 +63,23 @@ class i2c: def __del__(self): self.close() + +def i2c_write_reg(addr, reg, buf): + dev = i2c(addr) + s = struct.pack("B", reg) + buf + dev.write(s) + dev.close() + + +def i2c_read_reg(addr, reg, num=1): + dev = i2c(addr) + s = struct.pack("B", reg) + dev.write(s) + s = dev.read(num) + dev.close() + return s + + if __name__ == "__main__": import struct import sys diff --git a/scripts/move_base.py b/scripts/move_base.py index bac2742..fbd265f 100755 --- a/scripts/move_base.py +++ b/scripts/move_base.py @@ -3,7 +3,7 @@ import rospy import struct -from i2c import i2c +from i2c import * from math import * from geometry_msgs.msg import Twist @@ -15,6 +15,7 @@ class MoveBase: rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived) self.set_speed(0, 0) rospy.loginfo("Init done") + i2c_write_reg(0x50, 0x90, struct.pack("BB", 1, 1)) # switch direction self.run() def run(self): @@ -37,8 +38,8 @@ class MoveBase: if right > 255: right=255 elif right < -255: right=-255 - dev = i2c(0x56) - s = struct.pack(">Bhh", 0x1, left, right) + dev = i2c(0x50) + s = struct.pack(">Bhhhh", 0x1, right, right, left, left) dev.write(s) dev.close() -- 2.39.2