{
 "cells": [
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "# Les commandes de bas niveau pour configurer un moteur xl-320"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Importer les modules necessaires."
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 2,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "import pypot.dynamixel\n",
    "import time"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Connecter les moteurs au niveau logiciel."
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Trouver le port sur lequel est branché le moteur "
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 3,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "['/dev/ttyAMA0']\n"
     ]
    }
   ],
   "source": [
    "print(pypot.dynamixel.get_available_ports())"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ouvrir une communication série avec le moteur :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 4,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "dxl_io = pypot.dynamixel.Dxl320IO('/dev/ttyAMA0')"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Cherche les moteurs connectés sur le bus (il en faut un seul avec l'ID 1 pour la première utilisation) :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "[1, 2, 3, 4, 5, 6]\n",
      "6\n"
     ]
    }
   ],
   "source": [
    "motors = (dxl_io.scan(range(60)))\n",
    "print(motors)\n",
    "print(len(motors))"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Modifier l'identifiant d'un moteur (ID) :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 14,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "#Remplace l'ID 1 par 2 sur le moteur 1.\n",
    "#Attention, les moteurs doivents tous avoir une ID différente sur le même bus. \n",
    "dxl_io.change_id({1:2}) "
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Retourne la position cible pour le moteur 1 :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 16,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "(117.16,)"
      ]
     },
     "execution_count": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "dxl_io.get_goal_position({1})"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Donne un objectif de position pour le moteur 1 :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "dxl_io.set_goal_position({12: 60})"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Ferme la connexion avec les moteurs :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 18,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "dxl_io.close()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "### Contrôler plusieurs moteurs en continue"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 19,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "from pypot.dynamixel import autodetect_robot\n",
    "my_robot = autodetect_robot()"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Afficher les moteurs de my_robot :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 22,
   "metadata": {
    "collapsed": false
   },
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[<DxlMotor name=motor_1 id=1 pos=117.45>,\n",
       " <DxlMotor name=motor_2 id=2 pos=-72.87>,\n",
       " <DxlMotor name=motor_3 id=3 pos=-19.5>,\n",
       " <DxlMotor name=motor_4 id=4 pos=-19.21>,\n",
       " <DxlMotor name=motor_5 id=5 pos=-80.79>,\n",
       " <DxlMotor name=motor_6 id=6 pos=-19.79>]"
      ]
     },
     "execution_count": 22,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "my_robot.motors"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {},
   "source": [
    "Faire bouger le moteur 2 jusqu'à la position 0 degrés en 2 secondes :"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "metadata": {
    "collapsed": true
   },
   "outputs": [],
   "source": [
    "my_robot.compliant = False"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 26,
   "metadata": {
    "collapsed": false
   },
   "outputs": [],
   "source": [
    "my_robot.motor_2.goto_position(0,2)"
   ]
  },
  {
   "cell_type": "markdown",
   "metadata": {
    "collapsed": true
   },
   "source": [
    "Aller plus loin dans les commandes possibles : \n",
    "\n",
    "La documentation de Pypot : https://poppy-project.github.io/pypot/\n",
    "\n",
    "Le projet Poppy : https://www.poppy-project.org/fr/"
   ]
  }
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