218 lines
6.1 KiB
Python
218 lines
6.1 KiB
Python
FIRMWARE_MAJOR_VERSION = (0, 1)
|
|
FIRMWARE_MINOR_VERSION = (1, 1)
|
|
MODEL_NUMBER = (3, 2)
|
|
|
|
# data_name: (address, size_byte)
|
|
# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
|
|
STS_SMS_SERIES_CONTROL_TABLE = {
|
|
# EPROM
|
|
"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only
|
|
"Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only
|
|
"Model_Number": MODEL_NUMBER, # read-only
|
|
"ID": (5, 1),
|
|
"Baud_Rate": (6, 1),
|
|
"Return_Delay_Time": (7, 1),
|
|
"Response_Status_Level": (8, 1),
|
|
"Min_Position_Limit": (9, 2),
|
|
"Max_Position_Limit": (11, 2),
|
|
"Max_Temperature_Limit": (13, 1),
|
|
"Max_Voltage_Limit": (14, 1),
|
|
"Min_Voltage_Limit": (15, 1),
|
|
"Max_Torque_Limit": (16, 2),
|
|
"Phase": (18, 1),
|
|
"Unloading_Condition": (19, 1),
|
|
"LED_Alarm_Condition": (20, 1),
|
|
"P_Coefficient": (21, 1),
|
|
"D_Coefficient": (22, 1),
|
|
"I_Coefficient": (23, 1),
|
|
"Minimum_Startup_Force": (24, 2),
|
|
"CW_Dead_Zone": (26, 1),
|
|
"CCW_Dead_Zone": (27, 1),
|
|
"Protection_Current": (28, 2),
|
|
"Angular_Resolution": (30, 1),
|
|
"Homing_Offset": (31, 2),
|
|
"Operating_Mode": (33, 1),
|
|
"Protective_Torque": (34, 1),
|
|
"Protection_Time": (35, 1),
|
|
"Overload_Torque": (36, 1),
|
|
"Velocity_closed_loop_P_proportional_coefficient": (37, 1),
|
|
"Over_Current_Protection_Time": (38, 1),
|
|
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
|
|
# SRAM
|
|
"Torque_Enable": (40, 1),
|
|
"Acceleration": (41, 1),
|
|
"Goal_Position": (42, 2),
|
|
"Goal_Time": (44, 2),
|
|
"Goal_Velocity": (46, 2),
|
|
"Torque_Limit": (48, 2),
|
|
"Lock": (55, 1),
|
|
"Present_Position": (56, 2), # read-only
|
|
"Present_Velocity": (58, 2), # read-only
|
|
"Present_Load": (60, 2), # read-only
|
|
"Present_Voltage": (62, 1), # read-only
|
|
"Present_Temperature": (63, 1), # read-only
|
|
"Status": (65, 1), # read-only
|
|
"Moving": (66, 1), # read-only
|
|
"Present_Current": (69, 2), # read-only
|
|
"Goal_Position_2": (71, 2), # read-only
|
|
# Factory
|
|
"Moving_Velocity": (80, 1),
|
|
"Moving_Velocity_Threshold": (80, 1),
|
|
"DTs": (81, 1), # (ms)
|
|
"Velocity_Unit_factor": (82, 1),
|
|
"Hts": (83, 1), # (ns) valid for firmware >= 2.54, other versions keep 0
|
|
"Maximum_Velocity_Limit": (84, 1),
|
|
"Maximum_Acceleration": (85, 1),
|
|
"Acceleration_Multiplier ": (86, 1), # Acceleration multiplier in effect when acceleration is 0
|
|
}
|
|
|
|
# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SCSCL-emanual-cbcc8ab2e3384282a01d4bf3
|
|
SCS_SERIES_CONTROL_TABLE = {
|
|
# EPROM
|
|
"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only
|
|
"Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only
|
|
"Model_Number": MODEL_NUMBER, # read-only
|
|
"ID": (5, 1),
|
|
"Baud_Rate": (6, 1),
|
|
"Return_Delay_Time": (7, 1),
|
|
"Response_Status_Level": (8, 1),
|
|
"Min_Position_Limit": (9, 2),
|
|
"Max_Position_Limit": (11, 2),
|
|
"Max_Temperature_Limit": (13, 1),
|
|
"Max_Voltage_Limit": (14, 1),
|
|
"Min_Voltage_Limit": (15, 1),
|
|
"Max_Torque_Limit": (16, 2),
|
|
"Phase": (18, 1),
|
|
"Unloading_Condition": (19, 1),
|
|
"LED_Alarm_Condition": (20, 1),
|
|
"P_Coefficient": (21, 1),
|
|
"D_Coefficient": (22, 1),
|
|
"I_Coefficient": (23, 1),
|
|
"Minimum_Startup_Force": (24, 2),
|
|
"CW_Dead_Zone": (26, 1),
|
|
"CCW_Dead_Zone": (27, 1),
|
|
"Protective_Torque": (37, 1),
|
|
"Protection_Time": (38, 1),
|
|
# SRAM
|
|
"Torque_Enable": (40, 1),
|
|
"Acceleration": (41, 1),
|
|
"Goal_Position": (42, 2),
|
|
"Running_Time": (44, 2),
|
|
"Goal_Velocity": (46, 2),
|
|
"Lock": (48, 1),
|
|
"Present_Position": (56, 2), # read-only
|
|
"Present_Velocity": (58, 2), # read-only
|
|
"Present_Load": (60, 2), # read-only
|
|
"Present_Voltage": (62, 1), # read-only
|
|
"Present_Temperature": (63, 1), # read-only
|
|
"Sync_Write_Flag": (64, 1), # read-only
|
|
"Status": (65, 1), # read-only
|
|
"Moving": (66, 1), # read-only
|
|
# Factory
|
|
"PWM_Maximum_Step": (78, 1),
|
|
"Moving_Velocity_Threshold*50": (79, 1),
|
|
"DTs": (80, 1), # (ms)
|
|
"Minimum_Velocity_Limit*50": (81, 1),
|
|
"Maximum_Velocity_Limit*50": (82, 1),
|
|
"Acceleration_2": (83, 1), # don't know what that is
|
|
}
|
|
|
|
STS_SMS_SERIES_BAUDRATE_TABLE = {
|
|
0: 1_000_000,
|
|
1: 500_000,
|
|
2: 250_000,
|
|
3: 128_000,
|
|
4: 115_200,
|
|
5: 57_600,
|
|
6: 38_400,
|
|
7: 19_200,
|
|
}
|
|
|
|
SCS_SERIES_BAUDRATE_TABLE = {
|
|
0: 1_000_000,
|
|
1: 500_000,
|
|
2: 250_000,
|
|
3: 128_000,
|
|
4: 115_200,
|
|
5: 57_600,
|
|
6: 38_400,
|
|
7: 19_200,
|
|
}
|
|
|
|
MODEL_CONTROL_TABLE = {
|
|
"sts_series": STS_SMS_SERIES_CONTROL_TABLE,
|
|
"scs_series": SCS_SERIES_CONTROL_TABLE,
|
|
"sms_series": STS_SMS_SERIES_CONTROL_TABLE,
|
|
"sts3215": STS_SMS_SERIES_CONTROL_TABLE,
|
|
"sts3250": STS_SMS_SERIES_CONTROL_TABLE,
|
|
"scs0009": SCS_SERIES_CONTROL_TABLE,
|
|
"sm8512bl": STS_SMS_SERIES_CONTROL_TABLE,
|
|
}
|
|
|
|
MODEL_RESOLUTION = {
|
|
"sts_series": 4096,
|
|
"sms_series": 4096,
|
|
"scs_series": 1024,
|
|
"sts3215": 4096,
|
|
"sts3250": 4096,
|
|
"sm8512bl": 65536,
|
|
"scs0009": 1024,
|
|
}
|
|
|
|
MODEL_BAUDRATE_TABLE = {
|
|
"sts_series": STS_SMS_SERIES_BAUDRATE_TABLE,
|
|
"sms_series": STS_SMS_SERIES_BAUDRATE_TABLE,
|
|
"scs_series": SCS_SERIES_BAUDRATE_TABLE,
|
|
"sm8512bl": STS_SMS_SERIES_BAUDRATE_TABLE,
|
|
"sts3215": STS_SMS_SERIES_BAUDRATE_TABLE,
|
|
"sts3250": STS_SMS_SERIES_BAUDRATE_TABLE,
|
|
"scs0009": SCS_SERIES_BAUDRATE_TABLE,
|
|
}
|
|
|
|
# Sign-Magnitude encoding bits
|
|
STS_SMS_SERIES_ENCODINGS_TABLE = {
|
|
"Homing_Offset": 11,
|
|
"Goal_Velocity": 15,
|
|
}
|
|
|
|
MODEL_ENCODING_TABLE = {
|
|
"sts_series": STS_SMS_SERIES_ENCODINGS_TABLE,
|
|
"sms_series": STS_SMS_SERIES_ENCODINGS_TABLE,
|
|
"scs_series": {},
|
|
"sts3215": STS_SMS_SERIES_ENCODINGS_TABLE,
|
|
"sts3250": STS_SMS_SERIES_ENCODINGS_TABLE,
|
|
"sm8512bl": STS_SMS_SERIES_ENCODINGS_TABLE,
|
|
"scs0009": {},
|
|
}
|
|
|
|
SCAN_BAUDRATES = [
|
|
4_800,
|
|
9_600,
|
|
14_400,
|
|
19_200,
|
|
38_400,
|
|
57_600,
|
|
115_200,
|
|
128_000,
|
|
250_000,
|
|
500_000,
|
|
1_000_000,
|
|
]
|
|
|
|
MODEL_NUMBER_TABLE = {
|
|
"sts3215": 777,
|
|
"sts3250": 2825,
|
|
"sm8512bl": 11272,
|
|
"scs0009": 1284,
|
|
}
|
|
|
|
MODEL_PROTOCOL = {
|
|
"sts_series": 0,
|
|
"sms_series": 0,
|
|
"scs_series": 1,
|
|
"sts3215": 0,
|
|
"sts3250": 0,
|
|
"sm8512bl": 0,
|
|
"scs0009": 1,
|
|
}
|