69 lines
1.9 KiB
Python
69 lines
1.9 KiB
Python
STS_SERIES_CONTROL_TABLE = {
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"Model": (3, 2),
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"ID": (5, 1),
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"Baud_Rate": (6, 1),
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"Return_Delay": (7, 1),
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"Response_Status_Level": (8, 1),
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"Min_Angle_Limit": (9, 2),
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"Max_Angle_Limit": (11, 2),
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"Max_Temperature_Limit": (13, 1),
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"Max_Voltage_Limit": (14, 1),
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"Min_Voltage_Limit": (15, 1),
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"Max_Torque_Limit": (16, 2),
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"Phase": (18, 1),
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"Unloading_Condition": (19, 1),
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"LED_Alarm_Condition": (20, 1),
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"P_Coefficient": (21, 1),
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"D_Coefficient": (22, 1),
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"I_Coefficient": (23, 1),
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"Minimum_Startup_Force": (24, 2),
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"CW_Dead_Zone": (26, 1),
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"CCW_Dead_Zone": (27, 1),
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"Protection_Current": (28, 2),
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"Angular_Resolution": (30, 1),
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"Offset": (31, 2),
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"Mode": (33, 1),
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"Protective_Torque": (34, 1),
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"Protection_Time": (35, 1),
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"Overload_Torque": (36, 1),
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"Speed_closed_loop_P_proportional_coefficient": (37, 1),
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"Over_Current_Protection_Time": (38, 1),
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"Velocity_closed_loop_I_integral_coefficient": (39, 1),
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"Torque_Enable": (40, 1),
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"Acceleration": (41, 1),
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"Goal_Position": (42, 2),
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"Goal_Time": (44, 2),
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"Goal_Speed": (46, 2),
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"Torque_Limit": (48, 2),
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"Lock": (55, 1),
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"Present_Position": (56, 2),
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"Present_Speed": (58, 2),
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"Present_Load": (60, 2),
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"Present_Voltage": (62, 1),
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"Present_Temperature": (63, 1),
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"Status": (65, 1),
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"Moving": (66, 1),
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"Present_Current": (69, 2),
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# Not in the Memory Table
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"Maximum_Acceleration": (85, 2),
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}
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import time
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# Assuming STS_SERIES_CONTROL_TABLE is defined globally
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def print_all_params(robot):
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"""
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Reads all parameters from the STS_SERIES_CONTROL_TABLE and prints their values.
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"""
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for param in STS_SERIES_CONTROL_TABLE.keys():
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try:
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val = robot.arm_bus.read(param)
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print(f"{param} = {val}")
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except Exception as e:
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print(f"{param} read failed: {e}")
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# Example usage:
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print_all_params(robot)
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