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configure motors

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apirrone 2025-04-06 12:32:26 +02:00
parent 340fb10469
commit 415b7b1b86
1 changed files with 20 additions and 5 deletions
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25
scripts/configure_motor.py
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@ -41,8 +41,12 @@ except Exception:
res = scan() res = scan()
if res is not None: if res is not None:
current_id = res current_id = res
else:
print("Could not find motor. Exiting ...")
exit()
print("current id: ", current_id)
# print("current id: ", current_id)
kp = io.get_P_coefficient([current_id]) kp = io.get_P_coefficient([current_id])
ki = io.get_I_coefficient([current_id]) ki = io.get_I_coefficient([current_id])
@ -51,10 +55,10 @@ max_acceleration = io.get_maximum_acceleration([current_id])
acceleration = io.get_acceleration([current_id]) acceleration = io.get_acceleration([current_id])
mode = io.get_mode([current_id]) mode = io.get_mode([current_id])
print(f"PID : {kp}, {ki}, {kd}") # print(f"PID : {kp}, {ki}, {kd}")
print(f"max_acceleration: {max_acceleration}") # print(f"max_acceleration: {max_acceleration}")
print(f"acceleration: {acceleration}") # print(f"acceleration: {acceleration}")
print(f"mode: {mode}") # print(f"mode: {mode}")
io.set_lock({current_id: 0}) io.set_lock({current_id: 0})
io.set_mode({current_id: 0}) io.set_mode({current_id: 0})
@ -72,3 +76,14 @@ time.sleep(1)
io.set_goal_position({current_id: 0}) io.set_goal_position({current_id: 0})
time.sleep(1) time.sleep(1)
print("===")
print("Done configuring motor.")
print(f"Motor id: {current_id}")
print(f"P coefficient : {io.get_P_coefficient([current_id])}")
print(f"I coefficient : {io.get_I_coefficient([current_id])}")
print(f"D coefficient : {io.get_D_coefficient([current_id])}")
print(f"acceleration: {io.get_acceleration([current_id])}")
print(f"max_acceleration: {io.get_maximum_acceleration([current_id])}")
print(f"mode: {io.get_mode([current_id])}")
print("===")