57 lines
1.7 KiB
Python
57 lines
1.7 KiB
Python
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# Copyright 2025 Enactic, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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import openarm_can as oa
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import time
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# Create OpenArm instance
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arm = oa.OpenArm("can0", True)
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# Initialize arm motors
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motor_types = [oa.MotorType.DM4310, oa.MotorType.DM4310]
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send_ids = [0x01, 0x02]
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recv_ids = [0x11, 0x12]
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arm.init_arm_motors(motor_types, send_ids, recv_ids)
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# Initialize gripper
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arm.init_gripper_motor(oa.MotorType.DM4310, 0x7, 0x17)
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arm.set_callback_mode_all(oa.CallbackMode.IGNORE)
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# Use high-level operations
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arm.enable_all()
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arm.recv_all()
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# return to zero position
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arm.set_callback_mode_all(oa.CallbackMode.STATE)
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arm.get_arm().mit_control_all([oa.MITParam(2, 0.5, 0, 0, 0),
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oa.MITParam(2, 0.5, 0, 0, 0)])
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arm.recv_all()
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# torque control test
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arm.get_gripper().mit_control_all([oa.MITParam(0, 0, 0, 0, 0.15)])
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arm.get_arm().mit_control_all(
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[oa.MITParam(0, 0, 0, 0, 0.15), oa.MITParam(0, 0, 0, 0, 0.15)])
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arm.recv_all()
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# read motor position
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while True:
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arm.refresh_all()
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arm.recv_all()
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for motor in arm.get_arm().get_motors():
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print(motor.get_position())
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for motor in arm.get_gripper().get_motors():
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print(motor.get_position())
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