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helloworld.py
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Fri, Nov 29, 00:47

helloworld.py
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#!/usr/bin/python
# -*- coding: utf-8 -*-
import os, sys
# add ../../Sources to the PYTHONPATH
sys.path.append(os.path.join("..", "..", "Sources"))
from yocto_api import *
from yocto_motor import *
from yocto_current import *
from yocto_voltage import *
from yocto_temperature import *
def usage():
scriptname = os.path.basename(sys.argv[0])
print("Usage:")
print(scriptname + ' <serial_number> power')
print(scriptname + ' <logical_name>power')
print(scriptname + ' any <channel> power')
print('power is an integer between -100 and 100%')
print('Example:')
print(scriptname + ' any 75')
sys.exit()
def die(msg):
sys.exit(msg + ' (check USB cable)')
# parse the command line
if len(sys.argv) < 3:
usage()
target = sys.argv[1].upper()
power = int(sys.argv[2])
# Setup the API to use local USB devices
errmsg = YRefParam()
if YAPI.RegisterHub("usb", errmsg) != YAPI.SUCCESS:
sys.exit("init error" + errmsg.value)
if target == 'ANY':
# find any motor then retreive its serial #
motor = YMotor.FirstMotor()
if motor is None:
die('No module connected')
m = motor.get_module()
target = m.get_serialNumber()
print('using ' + target)
motor = YMotor.FindMotor(target + '.motor')
current = YCurrent.FindCurrent(target + '.current')
voltage = YVoltage.FindVoltage(target + '.voltage')
temperature = YTemperature.FindTemperature(target + '.temperature')
if motor.isOnline():
# if the motor is in error state, reset it.
if motor.get_motorStatus() >= YMotor.MOTORSTATUS_LOVOLT: motor.resetStatus()
motor.drivingForceMove(power, 2000) # ramp up to power in 2 seconds
while motor.isOnline():
print("Status : " + motor.get_advertisedValue() +
" Current : " + "%2.1f" % (current.get_currentValue() / 1000) + "A " + \
"Voltage : " + "%2.1f" % (voltage.get_currentValue()) + "V " + \
"Temperature : " + "%2.1f" % (temperature.get_currentValue()) + "deg C")
YAPI.Sleep(1000, errmsg)
else:
die('device not connected')
YAPI.FreeAPI()

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