I am trying to write a pyserial command to the uart port to control the robot arm.
I have some manual:
manual for arm
manual command example
I use pyserial like that:
import serial
from time import sleep
port = serial.Serial("/dev/ttyUSB0", baudrate=9600, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, bytesize=8, timeout=1)
port.write(b"\x055\x55\x0B\x03\x02\x20\x03\x02\xB0\x04\x09\xFC\x03\xaa")
sleep(0.3)
#port.write(b"\x05")
#sleep(0.3)
#port.write(b"\x06")
#sleep(0.03)
#port.write(b"\x08\x01\x00")
print('send')
At first I tried to run it in one line, the buzzer will beep that the command was accepted, but the hand does not move.
Then I tried to split the Header separately for the Length in the next line and the Command with Parameters in the next.
Tell me how you can send these commands to the port, maybe there is something ready to do this in Python?
LSC Series Servo Controller Communication Protocol V1.2 manual says:
If the user transmits the correct data to the servo
controller, the blue LED 2 on the controller will flash one time, indicating that the
correct data have been received. If the user transmits the wrong data, then the blue
LED2 will not have any reaction and will keep the bright, then the buzzer will beepbeep twice to remind the user of the data error.
The only thing in that manual about that buzzer is that it beeps 2 times if there is a data error...
Related
I've been exploring the ADAM 6717 from Advantech.
This is the ModBus address table for said device:
At first I wanted to modify the value of the Digital output channel 0(DO0), so, as can be seen from the picture above, such address is the 0x0017.
I succeed at this by using a ModBus tool and the following settings:
Sending either "On" or "Off", turns On and off a LED connected to that output. Everything runs smoothly according to my expectation up to this point.
The problem arises when I want to read the Analog Input channel 6 or equivalently, address 400431~40044.
Since that address lies on the Analog Output Holding Registers part of the address table, I though that the following settings would accomplish the job:
However, as can be seen above, the reading shows 0.0 when there is actually 6V connected to that input (a potentiometer)
It is worth mentioning that I've made sure to enable the AI6 channel as well as setting it to Voltage mode instead of current. Also, the web utility for the device shows the AI6 reading correctly as I change the potentiometer's resistance value.
So the problem doesn't lie in the connection from the potentiometer to the AI6 but somewhere else.
Out of nothing and leaving aside what I think I know on this topic, I though of changing the function from 0x03 to 0x04
However, the response is exactly the same.
It bugs me that I can read and write values to the output coils but not the Analog output holding registers.
Is there any configuration that I might be missing over here?
Thanks in advance.
Device settings:
IP address: 10.0.0.1
Port in which the ModBus service is running: 5020
I am trying to use the USB Device library on STM32Cube but when I execute using the debugger or that I try to turn an LED on in CDC_Receive_FS, it never reaches that point.
Here is how I set up everyting:
My board is a NUCLEO-F746ZG
I enabled USB_OTG_FS in Device_Only mode, activated _VBUS and _SOF. Left everything else by default and USB On The Go FS global interrupt is enabled!
I set up USB_DEVICE: Class For FS IP set to Virtual Port Com, left everything by default
Main loop left empty
CDC_Receive_FS: put breakpoint in it and/or HAL_GPIO_WritePin(LD1_GPIO_Port, LD1_Pin, GPIO_PIN_SET);
I have TIM2 set up for the things I would like to do when it will work
Then I tried to send data to the board, first using Python using serial with a baudrate of 921600 but got nothing. Then using PuTTY with a baudrate of 9600, still nothing...
If anyone has a clue, I have been struggling with it the whole day.
Here is the whole project: https://ecloud.global/s/cjGYqK6z9g58Lm4
I have a raspberry pi 3 running a program made in Xojo.
My goal is to have two flow sensors which display the amount of water that flows though each sensor on the screen.
I have a program that works for one flow sensor, it uses the GPIO library and a custom module called 'InterruptModule'. I followed a tutorial to make this program.
Tutorial: https://einhugur.com/blog/index.php/xojo-gpio/connecting-button-with-gpio-and-using-interupts/#comment-14
This program works successfully for both flow sensors, but only one at a time. I.e if I change the input pin and run the program again it works.
HOWEVER, when I try combine the two it responds can't differentiate between the two inputs.
I have tried with two GPIO modules and two custom 'InterruptModule' modules but it still counts the inputs under whichever sensor is defined first.
See my attempt here.
Screenshot of Xojo code
One way to differentiate between the two interrupts is to create two separate callback method.
Example:
Const kPin = 14
If GPIO.WiringPiISR(kPin, GPIO.EDGE_RISING, Addressof InteruptModule.ButtonDownInterupt1) = -1 then
MsgBox "Could not register for Interupt1 on kPin14"
End If
Const kPin = 18
If GPIO.WiringPiISR(kPin, GPIO.EDGE_RISING, Addressof InteruptModule.ButtonDownInterupt2) = -1 then
MsgBox "Could not register for Interupt2 on kPin18"
End If
In this example, each pin interruption would have its own callback method with different code to work with each pin.
I have a sensor with the interrupt output connected to a input pin on my RaspberryPi. My goal is to trigger an event from the sensor interrupt. The data sheet for my sensor says that once an interrupt is triggered on the sensor, the interrupt status register will have the appropriate bit set to 1 and stay that way until it is cleared; while the status register has a status bit of 1, the interrupt pad on the sensor will be pulled down.
My problem is that I can see the status register correctly reflect an interrupt when I physically trigger the sensor. But when I read the pin from my Pi, I never see any change reflected. Here's the gist of my code:
import Sensor
import RPi.GPIO as GPIO
GPIO.setmode(GPIO.BOARD)
GPIO.setup(11, GPIO.IN, pull_up_down = GPIO.PUD_UP)
s = Sensor.start()
while True:
print 'sensor int reg: ', s.readIntReg() # I do not clear interrupt
print 'pin value: ', GPIO.input(11)
The first print will change according to my interaction with the sensor as expected. The second print shows the pin holds 1 or 0 depending on whether it is set to pull up or down, respectively.
It seems like the problem lies in that whenever the interrupt fires, the sensor is pulling the pin down and the Pi is pulling it up... How should I handle this?
The sensor is the VCNL4010 [https://www.adafruit.com/products/466]
I suppose you have the gpio driver installed and active on the Pi?
Then you'll probably never see the interrupt triggering from the Python level since the kernel driver will service it (and reset the flag) already in the background.
I added a 10k external pull-up resistor with 3.3V and that did the trick... not sure why the internal pull-up on the Pi didn't do the same, perhaps I configured it wrong.
UPDATE: That turned out not to be the issue at all. I was neglecting to explicitly set the sensor to free run mode. Part of my code had the unintended side effect of setting that mode so in tweaking things for test sometimes it worked. The pull-up on the Pi works fine.
I have two xbee's series 1. I have them as endpoint devices working in API mode and talking to each other. The first xbee is attached at a raspberry pi, while the other is on my pc where I see the terminal tab of XCTU program. The baud rate I use is 125000.
From raspberry pi I try to send a jpg image which is 30Kbytes. I send data frames 100 byte long (the biggest as it is said in the xbee documentation). Inside a loop I create and send the packets, I have also a cout statement that prints the loop number. Everything is fine and all bytes are sent. When I comment out the cout statement not all bytes are sent.
From what I have understood the cout statement works as a delay between packets, but I still cannot understand why is this happening as it is supposed that I use the half speed ...
I hope I was clear and look forward for a reply.
UPDATE
Just to summarize, i changed baud rate to 250000 where there is the same behavior as in 125000. I also implemented hardware flow control by checking cts signal. When xbees are in transparent mode I need a delay between sending characters at around 150us. The same goes for api mode too. The difference with 125000 baud rate in api mode was that the delay needed, was enough to be betwween each data packet, but in 250000 the delay is needed between each byte that i send. If i do the above everything goes well.
The next thing i did was to plug both xbees in my pc in transparent mode. I went to terminal tab of xctu software where i chose assemble packet and sent at around 3000 bytes to the other xbee. The result was the same. The second xbee received at about 1500 bytes and then each time that i was sending one byte from the first to the second, the "lost bytes" were being received at packets of 1000. :/
So could anyone know what am I doing wrong?
You should connect the /CTS pin from the XBee module into the Raspberry Pi, and have your routine stop sending data when the XBee de-asserts it.
At higher baud rates, it's possible to stream data into the XBee module faster than it can send to the remote module. The local XBee module uses the /CTS pin to notify the host when its buffers are almost full and the host should stop sending. People refer to this as hardware flow control.
It may be necessary to modify the serial driver on the Raspberry Pi to make use of that signal -- it should pause the transmit buffer when de-asserted, and automatically resume sending when re-asserted.