土偶どっち（ステッピングモーターをNode-REDで動かそう）
ビジュアルプログラミングIoTLT vol6で「土偶どっち」を発表してきました。
ビジュアルプログラミングはNode-RED以外使ったことがなかったんだけど、色々なビジュアルプログラミングの使い方などが見れて興味深かった。
Node-REDソース
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Pythonソース
# -*- coding: utf-8 -*-
import time
import sys
import MD6470 as MD
def stopStat(timeOut):
sTime = time.time()
while True:
try:
statMD = (MD.getStatus(0)) #1軸のみに変更
if not(statMD & 0x0060): # if both motor STOP, exit
sStat = True
break
elif time.time() - sTime > timeOut:
sStat = False
break
except KeyboardInterrupt:
sStat = False
break
return sStat
def main():
MD.open() # ドライバー設定
MD.resetDevice(2) # 初期化
time.sleep(0.1)
MD.setKval(2, 0x60, 0xB4, 0xB4, 0xB4) # トルクコントロールパラメーター設定
MD.setMoveVal(2, 0x1A, 0x1A, 0x14, 0x00, 0x027) #モーションパラメータ設定
MD.goToAbsPos(int(sys.argv[1]), int(sys.argv[2])) #動作モータと移動量を指定
# MD.goToAbsPos(0, 12800)
if stopStat(5.0):
time.sleep(0.1)
# print (MD.readAbsPos(0))# , end="")
# sys.stdout.write (MD.readAbsPos(0))
sys.stdout.write ("%s" % MD.readAbsPos(0)) #現在位置の読み出し
MD.close() # ドライバーの設定解除
if __name__ == '__main__':
main()
