In [1]:

    

import pypot.dynamixel
import pypot.robot


    

In [2]:

    

ports = pypot.dynamixel.get_available_ports()
print 'Found ports', ports
port = ports[0]
print 'Using', port


    

    




Found ports ['/dev/ttyUSB0']
Using /dev/ttyUSB0

In [3]:

    

io = pypot.dynamixel.DxlIO(port)


    

In [4]:

    

ids = io.scan(range(40))
print 'Found ids', ids


    

    




Found ids [11, 36, 37]

In [5]:

    

motors = [pypot.dynamixel.motor.DxlMXMotor(id) for id in ids]
motors


    

    
Out[5]:





[<DxlMotor name=motor_11 id=11 pos=0.0>,
 <DxlMotor name=motor_36 id=36 pos=0.0>,
 <DxlMotor name=motor_37 id=37 pos=0.0>]

In [6]:

    

c = pypot.dynamixel.controller.BaseDxlController(io, motors)


    

In [7]:

    

robot = pypot.robot.Robot([c])


    

In [8]:

    

robot.start_sync()


    

In [9]:

    

for m in robot.motors:
    m.compliant = False
    m.goal_position = 0


    

In [10]:

    

from pypot.primitive.utils import Sinus


    

In [11]:

    

s1 = Sinus(robot, 50, robot.motors, amp=30)
s2 = Sinus(robot, 50, robot.motors, amp=5, freq=2)


    

In [12]:

    

s1.start()


    

In [13]:

    

%pylab inline

import time

pos = []

start = time.time()
while time.time() - start < 5:
    pos.append(robot.motors[0].present_position)
    time.sleep(0.02)
    
plot(linspace(0, 5, len(pos)), pos)


    

    




Populating the interactive namespace from numpy and matplotlib






    
Out[13]:





[<matplotlib.lines.Line2D at 0xa39fa0c>]






    

In [14]:

    

s2.start()


    

In [15]:

    

import time

pos = []

start = time.time()
while time.time() - start < 5:
    pos.append(robot.motors[0].present_position)
    time.sleep(0.02)
    
plot(linspace(0, 5, len(pos)), pos)


    

    
Out[15]:





[<matplotlib.lines.Line2D at 0xa4fe50c>]






    

In [16]:

    

s1.stop()


    

In [17]:

    

import time

pos = []

start = time.time()
while time.time() - start < 5:
    pos.append(robot.motors[0].present_position)
    time.sleep(0.02)
    
plot(linspace(0, 5, len(pos)), pos)


    

    
Out[17]:





[<matplotlib.lines.Line2D at 0xa54d9ac>]






    

In [18]:

    

s2.stop()


    

In [19]:

    

import time

pos = []

s1.start()
s2.start()
start = time.time()
while time.time() - start < 10:
    pos.append(robot.motors[0].present_position)
    time.sleep(0.02)
    
    if (3 < time.time() - start < 9):
        s2.pause()
    else:
        s2.resume()
    
plot(linspace(0, 10, len(pos)), pos)

s1.stop()
s2.stop()


    

In [19]:

    




    

In [ ]: