rafaelcaricio/Open_Duck_Mini_Runtime
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apirrone 2025-06-16 18:59:00 +02:00
parent 6b6da795f9
commit 819a87f7b4
1 changed files with 12 additions and 10 deletions
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22
scripts/new_record_data.py
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@ -14,6 +14,7 @@ parser.add_argument(
args = parser.parse_args() args = parser.parse_args()
io = FeetechSTS3215IO("/dev/ttyACM0") io = FeetechSTS3215IO("/dev/ttyACM0")
def convert_load(raw_load): def convert_load(raw_load):
sign = -1 sign = -1
if raw_load > 1023: if raw_load > 1023:
@ -22,19 +23,19 @@ def convert_load(raw_load):
return sign * raw_load * 0.001 return sign * raw_load * 0.001
id = 1 id = 1 if args.new_firmware else 11
kp = 16 kp = 32
kd = 0 kd = 0
acceleration = 0 acceleration = 0
maximum_acceleration = 0 maximum_acceleration = 0
maximum_velocity = 0 maximum_velocity = 0
goal_speed = 0
io.set_mode({id: 0})
io.set_lock({id: 1})
time.sleep(1) time.sleep(1)
io.set_maximum_acceleration({id: maximum_acceleration}) io.set_maximum_acceleration({id: maximum_acceleration})
io.set_acceleration({id: acceleration}) io.set_acceleration({id: acceleration})
io.set_maximum_velocity({id: maximum_velocity}) io.set_maximum_velocity({id: maximum_velocity})
io.set_goal_speed({id: goal_speed})
io.set_P_coefficient({id: kp}) io.set_P_coefficient({id: kp})
io.set_D_coefficient({id: kd}) io.set_D_coefficient({id: kd})
time.sleep(1) time.sleep(1)
@ -44,6 +45,7 @@ goal_position = 90
io.set_goal_position({id: 0}) io.set_goal_position({id: 0})
time.sleep(3) time.sleep(3)
exit()
times = [] times = []
positions = [] positions = []
@ -52,18 +54,18 @@ speeds = []
loads = [] loads = []
currents = [] currents = []
io.set_goal_position({1: goal_position}) io.set_goal_position({id: goal_position})
s = time.time() s = time.time()
set = False set = False
while True: while True:
t = time.time() - s t = time.time() - s
# goal_position = np.rad2deg(np.sin(t**2)) # goal_position = np.rad2deg(np.sin(t**2))
io.set_goal_position({1: goal_position}) io.set_goal_position({id: goal_position})
present_position = np.deg2rad(io.get_present_position([1])[0]) present_position = np.deg2rad(io.get_present_position([id])[0])
present_speed = np.deg2rad(io.get_present_speed([1])[0]) present_speed = np.deg2rad(io.get_present_speed([id])[0])
present_load = convert_load(io.get_present_load([1])[0]) present_load = convert_load(io.get_present_load([id])[0])
present_current = io.get_present_current([1])[0] present_current = io.get_present_current([id])[0]
times.append(t) times.append(t)
positions.append(present_position) positions.append(present_position)