30 lines
709 B
Python
30 lines
709 B
Python
import time
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import sys
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sys.path.append('../lib')
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from unitree_actuator_sdk import *
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serial = SerialPort('/dev/ttyUSB0')
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cmd = MotorCmd()
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data = MotorData()
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while True:
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data.motorType = MotorType.GO_M8010_6
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cmd.motorType = MotorType.GO_M8010_6
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cmd.mode = queryMotorMode(MotorType.GO_M8010_6,MotorMode.FOC)
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cmd.id = 0
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cmd.q = 0.0
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cmd.dq = 6.28*queryGearRatio(MotorType.GO_M8010_6)
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cmd.kp = 0.0
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cmd.kd = 0.01
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cmd.tau = 0.0
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serial.sendRecv(cmd, data)
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print('\n')
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print("q: " + str(data.q))
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print("dq: " + str(data.dq))
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print("temp: " + str(data.temp))
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print("merror: " + str(data.merror))
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print('\n')
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time.sleep(0.0002) # 200 us
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