From 8e05497b114ac220dc28ad6e1ea9f9e85ff4ed53 Mon Sep 17 00:00:00 2001 From: jess-moss Date: Wed, 28 Aug 2024 09:01:09 -0500 Subject: [PATCH] commit. --- .../common/robot_devices/motors/hiwonder.py | 142 ++++++++++++++++++ lerobot/scripts/read_hiwonder_motors2.py | 37 +++++ 2 files changed, 179 insertions(+) create mode 100644 lerobot/common/robot_devices/motors/hiwonder.py create mode 100644 lerobot/scripts/read_hiwonder_motors2.py diff --git a/lerobot/common/robot_devices/motors/hiwonder.py b/lerobot/common/robot_devices/motors/hiwonder.py new file mode 100644 index 00000000..de9edb98 --- /dev/null +++ b/lerobot/common/robot_devices/motors/hiwonder.py @@ -0,0 +1,142 @@ +import time +import traceback + +import serial + +from lerobot.common.robot_devices.utils import RobotDeviceAlreadyConnectedError + + +class HiwonderMotorsBus: + """ + The HiwonderMotorBus class allows to efficiently read and write to the attached motors. It relies on + the [Hiwonder Bus Communication Protoco](https://drive.google.com/file/d/1JKyt_OUg9V6cIBC-SiX6IIAACsvz86aB/view?usp=sharing). + + A HiwonderMotorBus instance requires a port (e.g. `HiwonderMotorBus(port="/dev/tty.usbmodem575E0031751"`)). + + Example of usage for 1 motor connected to the bus: + ```python + motor_name = "gripper" + motor_index = 6 + motor_model = "lx-16a" + + motors_bus = HiwonderMotorBus( + port="/dev/tty.usbmodem575E0031751", + motors={motor_name: (motor_index, motor_model)}, + ) + motors_bus.connect() + + position = motors_bus.read("Present_Position") + + # move from a few motor steps as an example + few_steps = 30 + motors_bus.write("Goal_Position", position + few_steps) + + # when done, consider disconnecting + motors_bus.disconnect() + ``` + """ + + def __init__(self, port): + self.port = port + self.serial = None + self.is_connected = False + + def connect(self): + """Open the serial port and establish a connection.""" + if self.is_connected: + raise RobotDeviceAlreadyConnectedError( + f"HiwonderMotorsBus({self.port}) is already connected. Do not call `motors_bus.connect()` twice." + ) + try: + # TODO made baudrate, timeout constant + self.serial = serial.Serial(self.port, baudrate=115200, timeout=1) + self.is_connected = True + print("Connection established") + except Exception: + traceback.print_exc() + print("\nCould not open port.\n") + raise + + def disconnect(self): + """Close the serial port connection.""" + if self.serial: + self.serial.close() + self.is_connected = False + print("Connection closed") + + def calculate_checksum(self, data): + """Calculate the checksum for the given data.""" + checksum = ~(sum(data)) & 0xFF + return checksum + + def write_position(self, motor_id, position, duration): + """Send a command to move the motor to a specific position over a specified duration.""" + if not self.is_connected: + print("Serial port not connected.") + return + + # Command structure: 55 55 ID LEN CMD P1 P2 P3 P4 CHK + cmd = 0x01 # Assuming command for move + length = 0x07 # Length of the remaining bytes + pos_low = position & 0xFF + pos_high = (position >> 8) & 0xFF + dur_low = duration & 0xFF + dur_high = (duration >> 8) & 0xFF + + # Prepare the packet + data = [motor_id, length, cmd, pos_low, pos_high, dur_low, dur_high] + checksum = self.calculate_checksum(data) + command = [0x55, 0x55] + data + [checksum] + + # Send the packet + self.serial.write(bytearray(command)) + print(f"Position write command sent: {' '.join(f'{byte:02X}' for byte in command)}") + + def read_position(self, motor_id): + """Send a command to read the current position of the motor.""" + if not self.is_connected: + print("Serial port not connected.") + return + + # Command structure for reading position: 55 55 ID LEN CMD CHK + cmd = 0x1C # Command value for reading position + length = 0x03 # Length is always 3 for the read position command + + # Prepare the command packet + data = [motor_id, length, cmd] + checksum = self.calculate_checksum(data) + command = [0x55, 0x55] + data + [checksum] + + # Send the command + self.serial.write(bytearray(command)) + print(f"Position read command sent: {' '.join(f'{byte:02X}' for byte in command)}") + + # Wait for response and handle it + try: + response = self.serial.read(8) # Adjust size based on expected response + if len(response) == 8: + header1, header2, resp_id, resp_len, resp_cmd, param1, param2, resp_chk = response + # Calculate expected checksum and compare + expected_checksum = self.calculate_checksum(response[2:-1]) + if resp_chk == expected_checksum: + # Combine param1 and param2 to form the actual position + position = param1 + (param2 << 8) + print(f"Current position of motor {motor_id}: {position}") + return position + else: + print("Checksum mismatch.") + else: + print("No response or invalid response") + except Exception as e: + print(f"Failed to read position: {e}") + + +# Example usage +if __name__ == "__main__": + hw_bus = HiwonderMotorsBus("/dev/ttyUSB0") # Adjust as necessary for your setup + hw_bus.connect() + hw_bus.send_command(1, 1000, 2000) # Move motor ID 1 to position 1000 in 2000 ms + time.sleep(2.5) # Wait for the movement to complete + hw_bus.send_command(1, 500, 2000) # Move motor ID 1 to position 500 in 2000 ms + time.sleep(2.5) # Wait for the movement to complete + hw_bus.disconnect() diff --git a/lerobot/scripts/read_hiwonder_motors2.py b/lerobot/scripts/read_hiwonder_motors2.py new file mode 100644 index 00000000..e9896b01 --- /dev/null +++ b/lerobot/scripts/read_hiwonder_motors2.py @@ -0,0 +1,37 @@ +import time + +from lerobot.common.robot_devices.motors.hiwonder import ( + HiwonderMotorsBus, # assuming the class is saved in hiwonder_motors_bus.py +) + + +def main(): + # Replace '/dev/ttyUSB0' with your actual port + # Try connecting with 9600 baud rate + hw_bus = HiwonderMotorsBus("/dev/ttyUSB0") + hw_bus.connect() + # hw_bus.read_motor_id() + hw_bus.write_position(1, 10, 2000) # Move motor ID 1 to position 1000 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(1) + hw_bus.write_position(1, 500, 2000) # Move motor ID 1 to position 500 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(1) + hw_bus.write_position(1, 1000, 2000) # Move motor ID 1 to position 500 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(1) + + hw_bus.write_position(2, 10, 2000) # Move motor ID 1 to position 1000 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(2) + hw_bus.write_position(2, 500, 2000) # Move motor ID 1 to position 500 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(2) + hw_bus.write_position(2, 1000, 2000) # Move motor ID 1 to position 500 in 2000 ms + time.sleep(3.0) # Wait for the movement to complete + hw_bus.read_position(2) + hw_bus.disconnect() + + +if __name__ == "__main__": + main()