81 lines
2.0 KiB
Python
81 lines
2.0 KiB
Python
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from pypot.feetech import FeetechSTS3215IO
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import time
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import pickle
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io = FeetechSTS3215IO(
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"/dev/ttyACM0",
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baudrate=1000000,
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use_sync_read=True,
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)
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id = 24
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max_acceleration = 254
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io.set_D_coefficient({id: 0})
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io.set_acceleration({id: max_acceleration})
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io.set_goal_position({id: 0})
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# present position
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# goal position
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# present load
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# present current
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# present speed
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# 0 deg pendant 2s, 90° pendant 2s etc
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present_positions = []
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goal_positions = []
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present_loads = []
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present_currents = []
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present_speeds = []
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times = []
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input("press enter to start")
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io.set_goal_position({id: 90})
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s = time.time()
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while time.time() - s < 2:
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present_positions.append(io.get_present_position([id])[0])
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goal_positions.append(io.get_goal_position([id])[0])
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present_loads.append(io.get_present_load([id])[0])
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present_currents.append(io.get_present_current([id])[0])
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present_speeds.append(io.get_present_speed([id])[0])
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times.append(time.time())
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io.set_goal_position({id: 0})
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s = time.time()
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while time.time() - s < 2:
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present_positions.append(io.get_present_position([id])[0])
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goal_positions.append(io.get_goal_position([id])[0])
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present_loads.append(io.get_present_load([id])[0])
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present_currents.append(io.get_present_current([id])[0])
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present_speeds.append(io.get_present_speed([id])[0])
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times.append(time.time())
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io.set_goal_position({id: 90})
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s = time.time()
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while time.time() - s < 2:
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present_positions.append(io.get_present_position([id])[0])
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goal_positions.append(io.get_goal_position([id])[0])
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present_loads.append(io.get_present_load([id])[0])
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present_currents.append(io.get_present_current([id])[0])
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present_speeds.append(io.get_present_speed([id])[0])
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times.append(time.time())
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data = {
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"present_positions": present_positions,
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"goal_positions": goal_positions,
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"present_loads": present_loads,
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"present_currents": present_currents,
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"present_speeds": present_speeds,
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"times": times,
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}
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pickle.dump(data, open(f"data_max_acc_{max_acceleration}.pkl", "wb"))
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