python控制电机转动_使⽤python，通过串⼝ROS直接控制电
机驱动器（6）
python驱动电机部分完结，现在把全部代码公布，基本实现驱动器速度控制部分功能。接下来我将把电机驱动器移植到ROS上，实现驱动器与ROS之间的通讯。下图为我代码的基本框架：
#!/usr/bin/env python
import serial
import time
import threading
import struct
motor_speed_mode = b'\x02\x00\xC4\xC6'
motor_status = b'\x80\x00\x80'
motor_start = b'\x00\x00\x01\x01'
motor_stop = b'\x00\x00\x00\x00'
class SpeedMotor:
def __init__(self, device,speed):
# 真实速度
# 设置的速度
self.set_speed = speed
# 运⾏状态
self.run = False
# 故障状态
self.fault = None
# 电机电压
self.voltage = 0
# 电机电流
self.current = 0
# 设置串⼝通讯
self.serial = serial.Serial(device, 57600)
self.serial.timeout = 0
# 开启读数据线程
threads = []
t1 = threading.Thread(ad_motor)
threads.append(t1)
t2 = threading.Thread(target=self.send_motor)
threads.append(t2)
for t in threads:
t.start()
# 设置为速度模式
self.serial.write(motor_speed_mode)
time.sleep(0.1)
# 设置加减速度
self.serial.write(b'\x0A\x14\x14\x32')
time.sleep(0.1)
def motor_speed_set(self):
a1 = 6
a4 = check_code(a1, self.set_speed)
self.serial.write(struct.pack(">BhB", a1, self.set_speed, a4)) def set_status(self):
self.serial.write(motor_status)
time.sleep(0.2)
def motor_start(self):
self.serial.write(motor_start)
self.run = True
def motor_stop(self):
self.run = False
self.serial.write(motor_stop)
def read_motor(self):
while True:
n = self.serial.inWaiting() # 等待数据的到来，并得到数据的长度if n: # 如果有数据
n = ad(n) # 读取n位数据
s = [hex(x) for x in bytes(n)]
for i in range(len(s)):
s[i] = int(s[i], 16)
if len(s) == 32:
for i in range(int(len(s) / 4)):
addr = s[4 * i]
if addr == 128:
if s[2] == 0:
python怎么读取串口数据print("停⽌状态")
elif s[2] == 1:
print("启动状态")
elif s[2] == 2:
print("过流")
elif s[2] == 4:
print("过压")
elif s[2] == 8:
print("编码器故障")
elif s[2] == 16:
print("过热")
elif s[2] == 32:
print("⽋压")
elif s[2] == 64:
print("过载")
elif addr == 225:
high_data = s[4 * i + 1]
low_data = s[4 * i + 2]
self.voltage = high_data * 256 + low_data
print("电压:" + str(self.voltage))
elif addr == 226:
high_data = s[4 * i + 1]
low_data = s[4 * i + 2]
self.current = (int(high_data * 256 + low_data))/100
print("电流:" + str(self.current))
elif addr == 228:
high_data = s[4 * i + 1]
low_data = s[4 * i + 2]
elif addr == 230:
None
elif addr == 231:
None
elif addr == 232:
None
elif addr == 233:
None
elif len(s) == 2:
if s[0] == 6:
print("速度设置成功")
time.sleep(0.1)
def send_motor(self):
while True:
if self.run:
self.set_status()
time.sleep(0.2)
<_speed_set()
time.sleep(0.3)
'''
通过a1,a2,a3三个码计算出校验和码
'''
def check_code(a1, a2):
buffer = struct.pack(">bh", a1, a2)
buffer = buffer[0] + buffer[1] + buffer[2] check_num = (struct.pack(">l", buffer)[-1]) return check_num
m = SpeedMotor('com4',100)
<_start()
for i in range(100):
m.set_speed = i
time.sleep(0.5)
<_stop()

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