rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-06-24 12:19:18 +02:00
parent d891231e1f
commit 5e54b332a5
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scripts/configure_all_motors.py Normal file
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print("WARNING Don't use this script !!!")
# exit()
from pypot.feetech import FeetechSTS3215IO
import time
ids = [10, 11, 12, 13, 14, 20, 21, 22, 23, 24, 30, 31, 32, 33]
io = FeetechSTS3215IO("/dev/ttyACM0")
for current_id in ids:
io.set_lock({current_id: 0})
# io.set_mode({current_id: 0})
io.set_maximum_acceleration({current_id: 0})
io.set_acceleration({current_id: 0})
io.set_maximum_velocity({current_id: 0})
io.set_goal_speed({current_id: 0})
io.set_P_coefficient({current_id: 32})
io.set_I_coefficient({current_id: 0})
io.set_D_coefficient({current_id: 0})
io.set_goal_position({current_id: 0})
io.set_lock({current_id: 1})
time.sleep(1)