Laelaps.RoboClaw.RoboClaw Class Reference

RobotClaw Motor Controller class. More...

Public Member Functions
def	__init__ (self)
	Constructor.
def	open (self, device, baudrate, fnChipSelect=None)
	Open connection to motor controller(s). More...
def	close (self)
def	isOpen (self)
def	noop (self, port, addrSel, addrLast)
def	execCmdWithAckRsp (self, addr, cmdId, sCmdData, appendCrc=False)
	Execute command with acknowledgement response. More...
def	execCmdWithDataRsp (self, addr, cmdId, sCmdData, lenRsp, appendCrc=False)
	Execute command with data response. More...
def	packU8 (self, val)
def	packS8 (self, val)
def	packU16 (self, val)
def	packS16 (self, val)
def	packU32 (self, val)
def	packS32 (self, val)
def	unpackU8 (self, s)
def	unpackS8 (self, s)
def	unpackU16 (self, s)
def	unpackS16 (self, s)
def	unpackU32 (self, s)
def	unpackS32 (self, s)
def	crc16 (self, crc, buf)
def	sendCmdHdr (self, addr, command)
def	readU8 (self)
def	readS8 (self)
def	readU16 (self)
def	readS16 (self)
def	readU32 (self)
def	readS32 (self)
def	writeU8 (self, val)
def	writeS8 (self, val)
def	writeU16 (self, val)
def	writeS16 (self, val)
def	writeU32 (self, val)
def	writeS32 (self, val)
def	M1Forward (self, addr, val)
	Command: 0.
def	M1Backward (self, addr, val)
	Command: 1.
def	setMinMainBattery (self, addr, val)
	Command: 2.
def	setMaxMainBattery (self, addr, val)
	Command: 3.
def	M2Forward (self, addr, val)
	Command: 4.
def	M2Backward (self, addr, val)
	Command: 5.
def	DriveM1 (self, addr, val)
	Command: 6.
def	DriveM2 (self, addr, val)
	Command: 7.
def	ForwardMixed (self, addr, val)
	Command: 8.
def	BackwardMixed (self, addr, val)
	Command: 9.
def	RightMixed (self, addr, val)
	Command: 10.
def	LeftMixed (self, addr, val)
	Command: 11.
def	DriveMixed (self, addr, val)
	Command: 12.
def	TurnMixed (self, addr, val)
	Command: 13.
def	readM1Encoder (self, addr)
	Command: 16.
def	readM2Encoder (self, addr)
	Command: 17.
def	readM1Speed (self, addr)
	Command: 18.
def	readM2Speed (self, addr)
	Command: 19.
def	resetEncoderCnts (self, addr)
	Command: 20.
def	readVersion (self, addr)
	Command: 21.
def	readMainBattery (self, addr)
	Command: 24.
def	readLogicBattery (self, addr)
	Command: 25.
def	setM1Pidq (self, addr, p, i, d, qpps)
	Command: 28.
def	setM2Pidq (self, addr, p, i, d, qpps)
	Command: 29.
def	readM1instspeed (self, addr)
	Command: 30.
def	readM2instspeed (self, addr)
	Command: 31.
def	setM1Duty (self, addr, val)
	Command: 32.
def	setM2Duty (self, addr, val)
	Command: 33.
def	setMixedDuty (self, addr, m1, m2)
	Command: 34.
def	setM1Speed (self, addr, val)
	Command: 35.
def	setM2Speed (self, addr, val)
	Command: 36.
def	setMixedSpeed (self, addr, m1, m2)
	Command: 37.
def	setM1SpeedAccel (self, addr, accel, speed)
	Command: 38.
def	setM2SpeedAccel (self, addr, accel, speed)
	Command: 39.
def	setMixedSpeedAccel (self, addr, accel, speed1, speed2)
	Command: 40.
def	setM1SpeedDistance (self, addr, speed, distance, buffered)
	Command: 41.
def	setM2SpeedDistance (self, addr, speed, distance, buffered)
	Command: 42.
def	setMixedSpeedDistance (self, addr, speed1, distance1, speed2, distance2, buffered)
	Command: 43.
def	setM1SpeedAccelDistance (self, addr, accel, speed, distance, buffered)
	Command: 44.
def	setM2SpeedAccelDistance (self, addr, accel, speed, distance, buffered)
	Command: 45.
def	setMixedSpeedAccelDistance (self, addr, accel, speed1, distance1, speed2, distance2, buffered)
	Command: 46.
def	readBufferCnts (self, addr)
	Command: 47.
def	readCurrents (self, addr)
	Command: 49 Note: RoboClaw User Manual v5 error. More...
def	setMixedSpeedIAccel (self, addr, accel1, speed1, accel2, speed2)
	Command: 50.
def	setMixedSpeedIAccelDistance (self, addr, accel1, speed1, distance1, accel2, speed2, distance2, buffered)
	Command: 51.
def	setM1DutyAccel (self, addr, accel, duty)
	Command: 52.
def	setM2DutyAccel (self, addr, accel, duty)
	Command: 53.
def	setMixedDutyAccel (self, addr, accel1, duty1, accel2, duty2)
	Command: 54.
def	readM1Pidq (self, addr)
	Command: 55.
def	readM2Pidq (self, addr)
	Command: 56.
def	setMainBatterySettings (self, addr, minV, maxV)
	Command: 57.
def	setLogicBatterySettings (self, addr, minV, maxV)
	Command: 58.
def	readMainBatterySettings (self, addr)
	Command: 59.
def	readLogicBatterySettings (self, addr)
	Command: 60.
def	setM1PositionConstants (self, addr, kp, ki, kd, kimax, deadzone, minP, maxP)
	Command: 61.
def	setM2PositionConstants (self, addr, kp, ki, kd, kimax, deadzone, minP, maxP)
	Command: 62.
def	readM1PositionConstants (self, addr)
	Command: 63.
def	readM2PositionConstants (self, addr)
	Command: 64.
def	setM1SpeedAccelDeccelPosition (self, addr, accel, speed, deccel, position, buffered)
	Command: 65.
def	setM2SpeedAccelDeccelPosition (self, addr, accel, speed, deccel, position, buffered)
	Command: 66.
def	setMixedSpeedAccelDeccelPosition (self, addr, accel1, speed1, deccel1, position1, accel2, speed2, deccel2, position2, buffered)
	Command: 67.
def	readTemperature (self, addr)
	Command: 82.
def	readStatus (self, addr)
	Command: 90.
def	readEncoderMode (self, addr)
	Command: 91.
def	setM1EncoderMode (self, addr, mode)
	Command: 92.
def	setM2EncoderMode (self, addr, mode)
	Command: 93.
def	writeSettings (self, addr)
	Command: 94.
def	setM1MaxCurrentLimit (self, addr, maxAmps)
	Command: 133 Note: RoboClass User Manual v5 error. More...
def	setM2MaxCurrentLimit (self, addr, maxAmps)
	Command: 134 Note: RoboClass User Manual v5 error. More...
def	readM1MaxCurrentLimit (self, addr)
	Command: 135 Note: RoboClass User Manual v5 error. More...
def	readM2MaxCurrentLimit (self, addr)
	Command: 136 Note: RoboClass User Manual v5 error. More...

Public Attributes
	m_checksum
	m_port
	checksum (deprecated)
	m_addrLast
	serial port
	m_fnChipSelect
	last address
	m_isOpen
	board chip select

Detailed Description

RobotClaw Motor Controller class.

Definition at line 240 of file RoboClaw.py.

Member Function Documentation

def Laelaps.RoboClaw.RoboClaw.execCmdWithAckRsp	(		self,
			addr,
			cmdId,
			sCmdData,
			appendCrc = False
	)

Execute command with acknowledgement response.

Command: addr cmdId [data] [crc16] Response: ack

Definition at line 296 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.crc16(), motor::roboclaw::RoboClawComm.crc16(), Laelaps.Imu.Imu.packU16(), Laelaps.RoboClaw.RoboClaw.packU16(), Laelaps.Imu.Imu.unpackU8(), and Laelaps.RoboClaw.RoboClaw.unpackU8().

Referenced by Laelaps.RoboClaw.RoboClaw.BackwardMixed(), Laelaps.RoboClaw.RoboClaw.DriveM1(), Laelaps.RoboClaw.RoboClaw.DriveM2(), Laelaps.RoboClaw.RoboClaw.DriveMixed(), Laelaps.RoboClaw.RoboClaw.ForwardMixed(), Laelaps.RoboClaw.RoboClaw.LeftMixed(), Laelaps.RoboClaw.RoboClaw.M1Backward(), Laelaps.RoboClaw.RoboClaw.M1Forward(), Laelaps.RoboClaw.RoboClaw.M2Backward(), Laelaps.RoboClaw.RoboClaw.M2Forward(), Laelaps.RoboClaw.RoboClaw.resetEncoderCnts(), Laelaps.RoboClaw.RoboClaw.RightMixed(), Laelaps.RoboClaw.RoboClaw.setLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw.setM1Duty(), Laelaps.RoboClaw.RoboClaw.setM1DutyAccel(), Laelaps.RoboClaw.RoboClaw.setM1EncoderMode(), Laelaps.RoboClaw.RoboClaw.setM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.setM1Pidq(), Laelaps.RoboClaw.RoboClaw.setM1PositionConstants(), Laelaps.RoboClaw.RoboClaw.setM1Speed(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM1SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM1SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setM2Duty(), Laelaps.RoboClaw.RoboClaw.setM2DutyAccel(), Laelaps.RoboClaw.RoboClaw.setM2EncoderMode(), Laelaps.RoboClaw.RoboClaw.setM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.setM2Pidq(), Laelaps.RoboClaw.RoboClaw.setM2PositionConstants(), Laelaps.RoboClaw.RoboClaw.setM2Speed(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccel(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setM2SpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setM2SpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMainBatterySettings(), Laelaps.RoboClaw.RoboClaw.setMaxMainBattery(), Laelaps.RoboClaw.RoboClaw.setMinMainBattery(), Laelaps.RoboClaw.RoboClaw.setMixedDuty(), Laelaps.RoboClaw.RoboClaw.setMixedDutyAccel(), Laelaps.RoboClaw.RoboClaw.setMixedSpeed(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccel(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDeccelPosition(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedAccelDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedDistance(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccel(), Laelaps.RoboClaw.RoboClaw.setMixedSpeedIAccelDistance(), Laelaps.RoboClaw.RoboClaw.TurnMixed(), and Laelaps.RoboClaw.RoboClaw.writeSettings().

  def execCmdWithAckRsp(self, addr, cmdId, sCmdData, appendCrc = False):
    sCmd = chr(addr) + chr(cmdId) + sCmdData
    crcCmd = self.crc16(0, sCmd)
    if appendCrc:
      sCmd += self.packU16(crcCmd)
    try:
      self.m_port.write(sCmd)
    except (serial.SerialException, serial.SerialTimeoutException) as inst:
      raise RoboClawException(inst.message)
    try:
      sRsp = self.m_port.read(1)
    except (serial.SerialException, serial.SerialTimeoutException) as inst:
      raise RoboClawException(inst.message)
    if len(sRsp) < 1:
        raise RoboClawException("Command %u: Received no ack" % (cmdId))
    else:
      ack = self.unpackU8(sRsp)
      if ack != RspAck:
        raise RoboClawException("Command %u: Received bad ack 0x%02x" % \
            (cmdId, ack))

def Laelaps.RoboClaw.RoboClaw.execCmdWithDataRsp	(		self,
			addr,
			cmdId,
			sCmdData,
			lenRsp,
			appendCrc = False
	)

Execute command with data response.

Command: addr cmdId [data...] [crc16] Response: data... crc16

Definition at line 324 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.crc16(), motor::roboclaw::RoboClawComm.crc16(), Laelaps.RoboClaw.RoboClaw.m_addrLast, motor::roboclaw::RoboClawChipSelect.m_addrLast, Laelaps.RoboClaw.RoboClaw.m_checksum, Laelaps.RoboClaw.RoboClaw.m_fnChipSelect, Laelaps.Imu.Imu.m_port, Laelaps.RoboClaw.RoboClaw.m_port, Laelaps.Imu.Imu.unpackU16(), and Laelaps.RoboClaw.RoboClaw.unpackU16().

Referenced by Laelaps.RoboClaw.RoboClaw.readBufferCnts(), Laelaps.RoboClaw.RoboClaw.readCurrents(), Laelaps.RoboClaw.RoboClaw.readEncoderMode(), Laelaps.RoboClaw.RoboClaw.readLogicBattery(), Laelaps.RoboClaw.RoboClaw.readLogicBatterySettings(), Laelaps.RoboClaw.RoboClaw.readM1Encoder(), Laelaps.RoboClaw.RoboClaw.readM1instspeed(), Laelaps.RoboClaw.RoboClaw.readM1MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.readM1Pidq(), Laelaps.RoboClaw.RoboClaw.readM1PositionConstants(), Laelaps.RoboClaw.RoboClaw.readM1Speed(), Laelaps.RoboClaw.RoboClaw.readM2Encoder(), Laelaps.RoboClaw.RoboClaw.readM2instspeed(), Laelaps.RoboClaw.RoboClaw.readM2MaxCurrentLimit(), Laelaps.RoboClaw.RoboClaw.readM2Pidq(), Laelaps.RoboClaw.RoboClaw.readM2PositionConstants(), Laelaps.RoboClaw.RoboClaw.readM2Speed(), Laelaps.RoboClaw.RoboClaw.readMainBattery(), Laelaps.RoboClaw.RoboClaw.readMainBatterySettings(), Laelaps.RoboClaw.RoboClaw.readStatus(), and Laelaps.RoboClaw.RoboClaw.readTemperature().

  def execCmdWithDataRsp(self, addr, cmdId, sCmdData, lenRsp, appendCrc=False):
    sCmd = chr(addr) + chr(cmdId) + sCmdData
    crcCmd = self.crc16(0, sCmd)
    if appendCrc:
      sCmd += packU16(crcCmd)
    try:
      self.m_port.write(sCmd)
    except (serial.SerialException, serial.SerialTimeoutException) as inst:
      raise RoboClawException(inst.message)
    try:
      sRsp = self.m_port.read(lenRsp)
    except (serial.SerialException, serial.SerialTimeoutException) as inst:
      raise RoboClawException(inst.message)
    if len(sRsp) != lenRsp:
      raise RoboClawException("Command %u: Partial response: " \
        "Expected %d bytes, received %d bytes" % (cmdId, lenRsp, len(sRsp)))
    if len(sRsp) >= 2:
      crcRsp = self.unpackU16(sRsp[-2:])
      sRsp = sRsp[:-2]
    else:
      crcRsp = 0
    crcCalc = self.crc16(crcCmd, sRsp)
    if crcRsp != crcCalc:
      raise RoboClawException("Command %u: CRC mismatch: " \
        "Expected 0x%04x, received 0x%04x" % (cmdId, crcCalc, crcRsp))
    return sRsp

def Laelaps.RoboClaw.RoboClaw.open	(		self,
			device,
			baudrate,
			fnChipSelect = None
	)

Open connection to motor controller(s).

Parameters

device	Serial device name.
baudrate	Serial baud rate.
fnChipSelect	Motor controller selection function.

Definition at line 259 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.m_addrLast, motor::roboclaw::RoboClawChipSelect.m_addrLast, Laelaps.RoboClaw.RoboClaw.m_checksum, Laelaps.RoboClaw.RoboClaw.m_fnChipSelect, Laelaps.RoboClaw.RoboClaw.m_isOpen, Laelaps.Imu.Imu.m_port, Laelaps.RoboClaw.RoboClaw.m_port, and Laelaps.RoboClaw.RoboClaw.noop().

  def open(self, device, baudrate, fnChipSelect=None):
    try:
      self.m_port = serial.Serial(device, baudrate=baudrate, timeout=0.5)
    except serial.SerialException as inst:
      raise RoboClawException(inst.message)
    self.m_port.flushInput()
    self.m_port.flushOutput()
    self.m_checksum = 0
    self.m_addrLast = 0
    if fnChipSelect is None:
      self.m_fnChipSelect = self.noop
    else:
      self.m_fnChipSelect = fnChipSelect
    self.m_isOpen = True

def Laelaps.RoboClaw.RoboClaw.readCurrents	(		self,
			addr
	)

Command: 49 Note: RoboClaw User Manual v5 error.

Values are signed 16 bits.

Definition at line 827 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.execCmdWithDataRsp(), motor::roboclaw::RoboClawComm.execCmdWithDataRsp(), Laelaps.Imu.Imu.unpackU16(), and Laelaps.RoboClaw.RoboClaw.unpackU16().

  def readCurrents(self, addr):
    sRsp = self.execCmdWithDataRsp(addr, CmdReadMotorDraw, '', 6)
    amp1 = self.unpackU16(sRsp)
    amp2 = self.unpackU16(sRsp[2:])
    if amp1 & 0x8000:
      amp1 -= 0x10000
    if amp2 & 0x8000:
      amp2 -= 0x10000
    return (amp1,amp2)
  

def Laelaps.RoboClaw.RoboClaw.readM1MaxCurrentLimit	(		self,
			addr
	)

Command: 135 Note: RoboClass User Manual v5 error.

Values are 32 bits.

Definition at line 1067 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.execCmdWithDataRsp(), motor::roboclaw::RoboClawComm.execCmdWithDataRsp(), Laelaps.Imu.Imu.unpackU32(), and Laelaps.RoboClaw.RoboClaw.unpackU32().

  def readM1MaxCurrentLimit(self, addr):
    sRsp = self.execCmdWithDataRsp(addr, CmdReadMaxCurrentMot1, '', 10)
    return self.unpackU32(sRsp)

def Laelaps.RoboClaw.RoboClaw.readM2MaxCurrentLimit	(		self,
			addr
	)

Command: 136 Note: RoboClass User Manual v5 error.

Values are 32 bits.

Definition at line 1073 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.execCmdWithDataRsp(), motor::roboclaw::RoboClawComm.execCmdWithDataRsp(), Laelaps.Imu.Imu.unpackU32(), and Laelaps.RoboClaw.RoboClaw.unpackU32().

  def readM2MaxCurrentLimit(self, addr):
    sRsp = self.execCmdWithDataRsp(addr, CmdReadMaxCurrentMot2, '', 10)
    return self.unpackU32(sRsp)


# ------------------------------------------------------------------------------
# UT main
# ------------------------------------------------------------------------------

def Laelaps.RoboClaw.RoboClaw.setM1MaxCurrentLimit	(		self,
			addr,
			maxAmps
	)

Command: 133 Note: RoboClass User Manual v5 error.

Values are 32 bits.

Definition at line 1049 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.execCmdWithAckRsp(), motor::roboclaw::RoboClawComm.execCmdWithAckRsp(), Laelaps.Imu.Imu.packU32(), and Laelaps.RoboClaw.RoboClaw.packU32().

  def setM1MaxCurrentLimit(self, addr, maxAmps):
    maxAmps = int(maxAmps)
    sData = ''
    sData += self.packU32(maxAmps)
    sData += self.packU32(0)
    self.execCmdWithAckRsp(addr, CmdSetMaxCurrentMot1, sData, True)

def Laelaps.RoboClaw.RoboClaw.setM2MaxCurrentLimit	(		self,
			addr,
			maxAmps
	)

Command: 134 Note: RoboClass User Manual v5 error.

Values are 32 bits.

Definition at line 1058 of file RoboClaw.py.

References Laelaps.RoboClaw.RoboClaw.execCmdWithAckRsp(), motor::roboclaw::RoboClawComm.execCmdWithAckRsp(), Laelaps.Imu.Imu.packU32(), and Laelaps.RoboClaw.RoboClaw.packU32().

  def setM2MaxCurrentLimit(self, addr, maxAmps):
    maxAmps = int(maxAmps)
    sData = ''
    sData += self.packU32(maxAmps)
    sData += self.packU32(0)
    self.execCmdWithAckRsp(addr, CmdSetMaxCurrentMot2, sData, True)

---

The documentation for this class was generated from the following file:

• sw/pyModules/modules/Laelaps/RoboClaw.py