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Rev 716 Rev 717
Line 256... Line 256...
256 
        msg = MkMsg(address=0, cmd='d', data=[500])
 256 
        msg = MkMsg(address=0, cmd='d', data=[500])
257 
        self.getDebugMsgLn = msg.generateUartLine()
 257 
        self.getDebugMsgLn = msg.generateUartLine()
Line 258... Line 258...
258 
       
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259 
 
 259 
 
260 
    def open(self, comPort):
 260 
    def open(self, comPort):
261 
        self.serPort = serial.Serial(comPort, 57600, timeout=0.5, rtscts=1)
 261 
        self.serPort = serial.Serial(comPort, 57600, timeout=0.5)
Line 262... Line 262...
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        if not self.serPort.isOpen():
 262 
        if not self.serPort.isOpen():
263 
            raise IOError("Failed to open serial port")
 263 
            raise IOError("Failed to open serial port")
Line 351... Line 351...
351 
    def recordDbgMsg(self, samplePeriod, nbSamples):
 351 
    def recordDbgMsg(self, samplePeriod, nbSamples):
352 
        result = []
 352 
        result = []
353 
        self.serPort.flushInput()
 353 
        self.serPort.flushInput()
354 
        msg = MkMsg(address=0, cmd='d', data=[int(samplePeriod*100)])
 354 
        msg = MkMsg(address=0, cmd='d', data=[int(samplePeriod*100)])
355 
        self.sendMsg(msg)
 355 
        self.sendMsg(msg)
- 
 
 356 
        start = time.clock()
356 
        for i in range(nbSamples):
 357 
        for i in range(nbSamples):
357 
            print i
 - 
 
358 
            msg = self.waitForMsg('D', timeout=samplePeriod+1)
 358 
            msg = self.waitForMsg('D', timeout=samplePeriod+1)
359 
            msg = DebugDataMsg(msg)
 359 
            msg = DebugDataMsg(msg)
360 
            result.append(msg)
 360 
            result.append(msg)
- 
 
 361 
        print "Time = ", (time.clock()-start)
- 
 
 362 
        self.getDebugMsg();
361 
        return result
 363 
        return result
Line -... Line 364...
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Line 362... Line 365...
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 366 
import copy
364 
 
 367 
 
365 
if __name__ == '__main__':
 368 
if __name__ == '__main__':
366 
    try:
 369 
    try:
Line 367... Line 370...
367 
        comm = MkComm()
 370 
        comm = MkComm()
368 
        comm.printDebugMsg = True
 371 
        comm.printDebugMsg = True
Line -... Line 372...
- 
 
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        comm.open(comPort="COM4")
- 
 
 373 
       
- 
 
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        msg = comm.getVersionMsg()
- 
 
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        print "Version: %d.%d" % msg.getVersion()
- 
 
 376 
       
369 
        comm.open(comPort="COM40")
 377 
        msg = MkMsg(address=2, cmd='f', data=[7, 50])
370 
       
 378 
        comm.sendMsg(msg)
371 
        msg = comm.getVersionMsg()
 379 
       
- 
 
 380 
       
372 
        print "Version: %d.%d" % msg.getVersion()
 381 
#        while True:
373 
       
 382 
#            msg = comm.getSettingsMsg()
- 
 
 383 
#            print "Index=",msg.getIndex()
- 
 
 384 
#            print "Name=",msg.getName()
- 
 
 385 
#            print
- 
 
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#            print "StickP =",msg.getSetting(SettingsMsg.IDX_STICK_P)
- 
 
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#            print "StickD =",msg.getSetting(SettingsMsg.IDX_STICK_D)
- 
 
 388 
#            print
- 
 
 389 
#            print "GyroP =",msg.getSetting(SettingsMsg.IDX_GYRO_P)
- 
 
 390 
#            print "GyroI =",msg.getSetting(SettingsMsg.IDX_GYRO_I)
- 
 
 391 
#            print "GyroD =",msg.getSetting(SettingsMsg.IDX_GYRO_D)
- 
 
 392 
#            print "Gyro I Factor =",msg.getSetting(SettingsMsg.IDX_I_FACTOR)
- 
 
 393 
#            
- 
 
 394 
#            testSettings = copy.deepcopy(msg)
- 
 
 395 
#            testSettings.setSetting(SettingsMsg.IDX_STICK_D, 0)
- 
 
 396 
#            
- 
 
 397 
#            testSettings.setSetting(SettingsMsg.IDX_GYRO_P, 0)
374 
#        msg = comm.getSettingsMsg()
 398 
#            testSettings.setSetting(SettingsMsg.IDX_GYRO_I, 50)
- 
 
 399 
#    
- 
 
 400 
#            print "Test Settings..."
- 
 
 401 
#            comm.sendSettings(testSettings.getSettings())
- 
 
 402 
#            raw_input("Press ENTER to end test")
375 
#        print "Index=",msg.getIndex()
 403 
#            
376 
#        print "Name=",msg.getName()
 404 
#            print "Normal Settings..."
Line 377... Line 405...
377 
#        print "StickP=",msg.getSetting(SettingsMsg.IDX_STICK_P)
 405 
#            comm.sendSettings(msg.getSettings())
378 
#        print "StickD=",msg.getSetting(SettingsMsg.IDX_STICK_D)
 406 
       
379 
#        
 407 
       
- 
 
 408 
#        msg.setSetting(SettingsMsg.IDX_STICK_P, msg.getSetting(SettingsMsg.IDX_STICK_P)+1)
Line -... Line 409...
- 
 
 409 
#        comm.sendSettings(msg.getSettings())
Line 380... Line 410...
380 
#        msg.setSetting(SettingsMsg.IDX_STICK_P, msg.getSetting(SettingsMsg.IDX_STICK_P)+1)
 410 
       
381 
#        comm.sendSettings(msg.getSettings())
 411 
#        messages = comm.recordDbgMsg(0.05, 20)
382 
       
 412 
#        for msg in messages:
383 
        messages = comm.recordDbgMsg(0.05, 20)
 413 
#            print msg.getAngleRoll()
384 
        for msg in messages:
 414 
       
385 
            print msg.getAngleRoll()
 415