Difference between revisions of "Pololu Maestro Servo Controller"
Jump to navigation
Jump to search
Line 69: | Line 69: | ||
* http://www.youtube.com/watch?v=NcO6oT-91F8 |
* http://www.youtube.com/watch?v=NcO6oT-91F8 |
||
* http://spinlock.blogspot.fr/2012/02/simple-servo-actuation-in-ros.html |
* http://spinlock.blogspot.fr/2012/02/simple-servo-actuation-in-ros.html |
||
+ | |||
+ | ===Python=== |
||
+ | <pre> |
||
+ | #!/usr/bin/python |
||
+ | import math, time, serial |
||
+ | |||
+ | def get_command(channel, target): |
||
+ | target = target * 4 |
||
+ | serialBytes = chr(0x84)+chr(channel)+chr(target & 0x7F)+chr((target >> 7) & 0x7F) |
||
+ | return serialBytes |
||
+ | |||
+ | ser = serial.Serial('/dev/ttyACM0') |
||
+ | ser.write(chr(0xAA)) |
||
+ | ser.flush() |
||
+ | |||
+ | i=0.0 |
||
+ | while(i<2*math.pi): |
||
+ | i = i+0.01 |
||
+ | print math.sin(i) |
||
+ | ser.write(get_command(1,int((math.sin(i)*300)+1500))) |
||
+ | ser.write(get_command(0,int((math.sin(i)*300)+1500))) |
||
+ | |||
+ | time.sleep(0.002) |
||
+ | |||
+ | ser.write(get_command(1,0)) |
||
+ | ser.write(get_command(0,0)) |
||
+ | |||
+ | ser.close() |
||
+ | </pre> |
Revision as of 23:50, 20 January 2014
- Pololu Micro Maestro 6-Channel USB Servo Controller
- Pololu Mini Maestro 12-Channel USB Servo Controller
C
http://www.pololu.com/docs/0J40/5.h.1
gcc setmaestro.c -o setmaestro ./setmaestro /dev/tty.usbmodem00072841 0 6000
Bash
http://www.pololu.com/product/1350
> system_profiler SPUSBDataType ... Pololu Micro Maestro 6-Servo Controller: Product ID: 0x0089 Vendor ID: 0x1ffb Version: 1.02 Serial Number: 00072848 Speed: Up to 12 Mb/sec Manufacturer: Pololu Corporation Location ID: 0x14300000 / 1 Current Available (mA): 500 Current Required (mA): 100 ...
http://www.pololu.com/docs/0J40/5.h.4
#!/bin/bash # Sends a Set Target command to a Pololu Maestro servo controller # via its virtual serial port. # Usage: maestro-set-target.sh DEVICE CHANNEL TARGET # Linux example: bash maestro-set-target.sh /dev/ttyACM0 0 6000 # Mac OS X example: bash maestro-set-target.sh /dev/cu.usbmodem00234567 0 6000 # Windows example: bash maestro-set-target.sh '\\.\USBSER000' 0 6000 # Windows example: bash maestro-set-target.sh '\\.\COM6' 0 6000 # CHANNEL is the channel number # TARGET is the target in units of quarter microseconds. # The Maestro must be configured to be in USB Dual Port mode. DEVICE=$1 CHANNEL=$2 TARGET=$3 byte() { printf "\\x$(printf "%x" $1)" } { byte 0x84 byte $CHANNEL byte $((TARGET & 0x7F)) byte $((TARGET >> 7 & 0x7F)) } > $DEVICE
Robot Operating System
- http://www.youtube.com/watch?v=NcO6oT-91F8
- http://spinlock.blogspot.fr/2012/02/simple-servo-actuation-in-ros.html
Python
#!/usr/bin/python import math, time, serial def get_command(channel, target): target = target * 4 serialBytes = chr(0x84)+chr(channel)+chr(target & 0x7F)+chr((target >> 7) & 0x7F) return serialBytes ser = serial.Serial('/dev/ttyACM0') ser.write(chr(0xAA)) ser.flush() i=0.0 while(i<2*math.pi): i = i+0.01 print math.sin(i) ser.write(get_command(1,int((math.sin(i)*300)+1500))) ser.write(get_command(0,int((math.sin(i)*300)+1500))) time.sleep(0.002) ser.write(get_command(1,0)) ser.write(get_command(0,0)) ser.close()