File size: 1,040 Bytes
d7b60cc | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 | from trlc_dk1.follower import DK1Follower, DK1FollowerConfig
from trlc_dk1.motors.DM_Control_Python.DM_CAN import *
import serial
import time
follower_config = DK1FollowerConfig(
port="/dev/tty.usbmodem00000000050C1",
)
follower = DK1Follower(follower_config)
follower.serial_device = serial.Serial(follower_config.port, 921600, timeout=0.5)
time.sleep(0.5)
follower.control = MotorControl(follower.serial_device)
for key, motor in follower.motors.items():
follower.control.addMotor(motor)
for _ in range(3):
follower.control.refresh_motor_status(motor)
time.sleep(0.01)
if follower.control.read_motor_param(motor, DM_variable.CTRL_MODE) is not None:
print(f"{key} ({motor.MotorType.name}) is connected.")
else:
raise Exception(f"Unable to read from {key} ({motor.MotorType.name}).")
for key, motor in follower.motors.items():
follower.control.set_zero_position(motor)
print(f"{key} ({motor.MotorType.name}) set to zero position.")
follower.control.serial_.close() |