38 lines
1.4 KiB
Python
38 lines
1.4 KiB
Python
import time
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from lerobot.common.robot_devices.motors.hiwonder import (
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HiwonderMotorsBus, # assuming the class is saved in hiwonder_motors_bus.py
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)
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def main():
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# Replace '/dev/ttyUSB0' with your actual port
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# Try connecting with 9600 baud rate
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hw_bus = HiwonderMotorsBus("/dev/ttyUSB0")
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hw_bus.connect()
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# hw_bus.read_motor_id()
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hw_bus.write_position(1, 10, 2000) # Move motor ID 1 to position 1000 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(1)
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hw_bus.write_position(1, 500, 2000) # Move motor ID 1 to position 500 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(1)
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hw_bus.write_position(1, 1000, 2000) # Move motor ID 1 to position 500 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(1)
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hw_bus.write_position(2, 10, 2000) # Move motor ID 1 to position 1000 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(2)
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hw_bus.write_position(2, 500, 2000) # Move motor ID 1 to position 500 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(2)
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hw_bus.write_position(2, 1000, 2000) # Move motor ID 1 to position 500 in 2000 ms
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time.sleep(3.0) # Wait for the movement to complete
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hw_bus.read_position(2)
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hw_bus.disconnect()
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if __name__ == "__main__":
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main()
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