Difference between revisions of "Sc mc python examples"
m (Created page with " =prepare the hardware= Take the robot out of its boot mode so that it can be controlled externally. Generally the following special commands achieve this: *[231, 0] # IMU off ...") |
m |
||
| Line 1: | Line 1: | ||
| + | =special command sequences that are interesting= | ||
| + | Below are some special command that result in some interesting robot behavior. These special commands can be provided via 'do_command.py', or 'pfcmdmenu.exe', or directly in python with the method 'do_command' in the module 'pfcmd.py'. | ||
| − | =prepare the hardware= | + | The special command sequences below are listed in braces as comma separated values. For example for the sequence [100, 200, 300] |
| + | |||
| + | With do_command.py you would type: | ||
| + | do_command.py -p <serial port> -s 100 200 300 | ||
| + | |||
| + | With pfcmdmenu.exe, in the string box : | ||
| + | 100 200 300 | ||
| + | |||
| + | With python, assuming pf is an instance of pfcmd.py: | ||
| + | result = pf.do_command('special', [100, 200, 300]) | ||
| + | |||
| + | |||
| + | ==read robot status== | ||
| + | *[104] # read SC status info | ||
| + | *[1101] # get motor mode | ||
| + | *[1106] # get encoder positions | ||
| + | *[1420] # get MC SM state | ||
| + | *[1105] # get motor velocity | ||
| + | *[1116] # read MC ADCs | ||
| + | *[1120] # get overload status values | ||
| + | *[230] # get IMU enable | ||
| + | |||
| + | ==prepare the hardware== | ||
Take the robot out of its boot mode so that it can be controlled externally. Generally the following special commands achieve this: | Take the robot out of its boot mode so that it can be controlled externally. Generally the following special commands achieve this: | ||
| Line 8: | Line 32: | ||
*[1421, 17] # MC statemachine to a 'do nothing success state' | *[1421, 17] # MC statemachine to a 'do nothing success state' | ||
| − | =move robot back - fort in voltage mode= | + | ==move robot back - fort in voltage mode== |
After preparing the hardware above, can use special command 1115 to command a fixed voltage across the motor: | After preparing the hardware above, can use special command 1115 to command a fixed voltage across the motor: | ||
*[1115, 1000, 0, 6] # qVq = 1000, mode = 6 (voltage | *[1115, 1000, 0, 6] # qVq = 1000, mode = 6 (voltage | ||
| Line 16: | Line 40: | ||
*[1115, 0,0,0] # short the motor leads | *[1115, 0,0,0] # short the motor leads | ||
| − | =enter trajectory mode= | + | ==enter trajectory mode== |
The trajectory mode will servo the robot to the goal position. This is achieved by adjusting the sent point of a virtual spring (whos parmeters) are adjusted. The goal point for the VS is set based on diffeence equstion that produces an exponential response to a position step input. | The trajectory mode will servo the robot to the goal position. This is achieved by adjusting the sent point of a virtual spring (whos parmeters) are adjusted. The goal point for the VS is set based on diffeence equstion that produces an exponential response to a position step input. | ||
Revision as of 15:39, 5 November 2010
Contents
special command sequences that are interesting
Below are some special command that result in some interesting robot behavior. These special commands can be provided via 'do_command.py', or 'pfcmdmenu.exe', or directly in python with the method 'do_command' in the module 'pfcmd.py'.
The special command sequences below are listed in braces as comma separated values. For example for the sequence [100, 200, 300]
With do_command.py you would type: do_command.py -p <serial port> -s 100 200 300
With pfcmdmenu.exe, in the string box : 100 200 300
With python, assuming pf is an instance of pfcmd.py: result = pf.do_command('special', [100, 200, 300])
read robot status
- [104] # read SC status info
- [1101] # get motor mode
- [1106] # get encoder positions
- [1420] # get MC SM state
- [1105] # get motor velocity
- [1116] # read MC ADCs
- [1120] # get overload status values
- [230] # get IMU enable
prepare the hardware
Take the robot out of its boot mode so that it can be controlled externally. Generally the following special commands achieve this:
- [231, 0] # IMU off - to minimize possible loss of commands over the FUP
- [173,77,7] # demux statemachine to idle mode
- [170,77,17] # primary statemachine to the 'do nothing state'
- [1421, 17] # MC statemachine to a 'do nothing success state'
move robot back - fort in voltage mode
After preparing the hardware above, can use special command 1115 to command a fixed voltage across the motor:
- [1115, 1000, 0, 6] # qVq = 1000, mode = 6 (voltage
- sleep 1 sec
- [1115, -1000, 0, 6] # qVq=-1000
- sleep 1 sec
- [1115, 0,0,0] # short the motor leads
enter trajectory mode
The trajectory mode will servo the robot to the goal position. This is achieved by adjusting the sent point of a virtual spring (whos parmeters) are adjusted. The goal point for the VS is set based on diffeence equstion that produces an exponential response to a position step input.
- [1318, 100] # set goal position to 100 need to be careful to limit the goal position to valid positions!!!
- [1421, 41] # go to trajectory control mode, robot immediatly jumps!
- sleep 1 sec
- [1318, 500] # servo to position 500
