| 258,7 → 258,7 |
|---|
| |
| |
| def open(self, comPort): |
| self.serPort = serial.Serial(comPort, 57600, timeout=0.5, rtscts=1) |
| self.serPort = serial.Serial(comPort, 57600, timeout=0.5) |
| if not self.serPort.isOpen(): |
| raise IOError("Failed to open serial port") |
| |
| 353,38 → 353,68 |
|---|
| self.serPort.flushInput() |
| msg = MkMsg(address=0, cmd='d', data=[int(samplePeriod*100)]) |
| self.sendMsg(msg) |
| start = time.clock() |
| for i in range(nbSamples): |
| print i |
| msg = self.waitForMsg('D', timeout=samplePeriod+1) |
| msg = DebugDataMsg(msg) |
| result.append(msg) |
| print "Time = ", (time.clock()-start) |
| self.getDebugMsg(); |
| return result |
| |
| |
| import copy |
| |
| if __name__ == '__main__': |
| try: |
| comm = MkComm() |
| comm.printDebugMsg = True |
| comm.open(comPort="COM40") |
| comm.open(comPort="COM4") |
| |
| msg = comm.getVersionMsg() |
| print "Version: %d.%d" % msg.getVersion() |
| |
| # msg = comm.getSettingsMsg() |
| # print "Index=",msg.getIndex() |
| # print "Name=",msg.getName() |
| # print "StickP=",msg.getSetting(SettingsMsg.IDX_STICK_P) |
| # print "StickD=",msg.getSetting(SettingsMsg.IDX_STICK_D) |
| # |
| msg = MkMsg(address=2, cmd='f', data=[7, 50]) |
| comm.sendMsg(msg) |
| |
| |
| # while True: |
| # msg = comm.getSettingsMsg() |
| # print "Index=",msg.getIndex() |
| # print "Name=",msg.getName() |
| # print |
| # print "StickP =",msg.getSetting(SettingsMsg.IDX_STICK_P) |
| # print "StickD =",msg.getSetting(SettingsMsg.IDX_STICK_D) |
| # print |
| # print "GyroP =",msg.getSetting(SettingsMsg.IDX_GYRO_P) |
| # print "GyroI =",msg.getSetting(SettingsMsg.IDX_GYRO_I) |
| # print "GyroD =",msg.getSetting(SettingsMsg.IDX_GYRO_D) |
| # print "Gyro I Factor =",msg.getSetting(SettingsMsg.IDX_I_FACTOR) |
| # |
| # testSettings = copy.deepcopy(msg) |
| # testSettings.setSetting(SettingsMsg.IDX_STICK_D, 0) |
| # |
| # testSettings.setSetting(SettingsMsg.IDX_GYRO_P, 0) |
| # testSettings.setSetting(SettingsMsg.IDX_GYRO_I, 50) |
| # |
| # print "Test Settings..." |
| # comm.sendSettings(testSettings.getSettings()) |
| # raw_input("Press ENTER to end test") |
| # |
| # print "Normal Settings..." |
| # comm.sendSettings(msg.getSettings()) |
| |
| |
| # msg.setSetting(SettingsMsg.IDX_STICK_P, msg.getSetting(SettingsMsg.IDX_STICK_P)+1) |
| # comm.sendSettings(msg.getSettings()) |
| |
| messages = comm.recordDbgMsg(0.05, 20) |
| for msg in messages: |
| print msg.getAngleRoll() |
| # messages = comm.recordDbgMsg(0.05, 20) |
| # for msg in messages: |
| # print msg.getAngleRoll() |
| |
| |
| |
| comm.close() |
| |
| except Exception,e: |
| print |
| 391,4 → 421,4 |
|---|
| print "An error occured: ", e |
| print |
| traceback.print_exc() |
| raw_input("Press ENTER, the application will close") |
| # raw_input("Press ENTER, the application will close") |