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JC MQTT app configuration

This commit is contained in:
biqu 2024-09-24 16:28:47 -04:00
commit a3134a7f0a
5 changed files with 563 additions and 0 deletions
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382
MX64.json Normal file
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{
"Protocol_1": {
"Control_Table": {
"Model_Number": [
0,
2
],
"Firmware_Version": [
2,
1
],
"ID": [
3,
1
],
"Baud_Rate": [
4,
1
],
"Return_Delay_Time": [
5,
1
],
"CW_Angle_Limit": [
6,
2
],
"CCW_Angle_Limit": [
8,
2
],
"Temperature_Limit": [
11,
1
],
"Min_Voltage_Limit": [
12,
1
],
"Max_Voltage_Limit": [
13,
1
],
"Max_Torque": [
14,
2
],
"Status_Return_Level": [
16,
1
],
"Alarm_LED": [
17,
1
],
"Shutdown": [
18,
1
],
"Multi_Turn_Offset": [
20,
2
],
"Resolution_Divider": [
22,
1
],
"Torque_Enable": [
24,
1
],
"LED": [
25,
1
],
"D_Gain": [
26,
1
],
"I_Gain": [
27,
1
],
"P_Gain": [
28,
1
],
"Goal_Position": [
30,
2
],
"Moving_Speed": [
32,
2
],
"Torque_Limit": [
34,
2
],
"Present_Position": [
36,
2
],
"Present_Speed": [
38,
2
],
"Present_Load": [
40,
2
],
"Present_Voltage": [
42,
1
],
"Present_Temperature": [
43,
1
],
"Registered": [
44,
1
],
"Moving": [
46,
1
],
"Lock": [
47,
1
],
"Punch": [
48,
2
],
"Realtime_Tick": [
50,
2
],
"Current": [
68,
2
],
"Torque_Ctrl_Mode_Enable": [
70,
1
],
"Goal_Torque": [
71,
2
],
"Goal_Acceleration": [
73,
1
]
},
"Values": {
"Min_Position": 0,
"Max_Position": 4095,
"Max_Angle": 360
}
},
"Protocol_2": {
"Control_Table": {
"Control_Table": {
"Model_Number": [
0,
2
],
"Model_Information": [
2,
4
],
"Firmware_Version": [
6,
1
],
"ID": [
7,
1
],
"Baud_Rate": [
8,
1
],
"Return_Delay_Time": [
9,
1
],
"Drive_Mode": [
10,
1
],
"Operating_Mode": [
11,
1
],
"Secondary_ID": [
12,
1
],
"Protocol_Type": [
13,
1
],
"Homing_Offset": [
20,
4
],
"Moving_Threshold": [
24,
4
],
"Temperature_Limit": [
31,
1
],
"Max_Voltage_Limit": [
32,
2
],
"Min_Voltage_Limit": [
34,
2
],
"PWM_Limit": [
36,
2
],
"Current_Limit": [
38,
2
],
"Acceleration_Limit": [
40,
4
],
"Velocity_Limit": [
44,
4
],
"Max_Position_Limit": [
48,
4
],
"Min_Position_Limit": [
52,
4
],
"Shutdown": [
63,
1
],
"Torque_Enable": [
64,
1
],
"LED": [
65,
1
],
"Return_Status_Level": [
68,
1
],
"Registered_Instruction": [
69,
1
],
"Hardware_Error_Status": [
70,
1
],
"Velocity_I_Gain": [
76,
2
],
"Velocity_P_Gain": [
78,
2
],
"Position_D_Gain": [
80,
2
],
"Position_I_Gain": [
82,
2
],
"Position_P_Gain": [
84,
2
],
"Feedforward_2nd_Gain": [
88,
2
],
"Feedforward_1st_Gain": [
90,
2
],
"BUS_Watchdog": [
98,
1
],
"Goal_PWM": [
100,
2
],
"Goal_Current": [
102,
2
],
"Goal_Velocity": [
104,
4
],
"Profile_Acceleration": [
108,
4
],
"Profile_Velocity": [
112,
4
],
"Goal_Position": [
116,
4
],
"Realtime_Tick": [
120,
2
],
"Moving": [
122,
1
],
"Moving_Status": [
123,
1
],
"Present_PWM": [
124,
2
],
"Present_Current": [
126,
2
],
"Present_Velocity": [
128,
4
],
"Present_Position": [
132,
4
],
"Velocity_Trajectory": [
136,
4
],
"Position_Trajectory": [
140,
4
],
"Present_Input_Voltage": [
144,
2
],
"Present_Temperature": [
146,
1
]
}
},
"Values:": {
"Min_Position": 0,
"Max_Position": 4095,
"Max_Angle": 360
}
}
}

68
XM540W270.json Normal file
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{
"Protocol_2": {
"Control_Table": {
"Model_Number": [0, 2],
"Model_Information": [2, 4],
"Firmware_Version": [6, 1],
"ID": [7, 1],
"Baud_Rate": [8, 1],
"Return_Delay_Time": [9, 1],
"Drive_Mode": [10, 1],
"Operating_Mode": [11, 1],
"Secondary_Shadow_ID": [12, 1],
"Protocol_Type": [13, 1],
"Homing_Offset": [20, 4],
"Moving_Threshold": [24, 4],
"Temperature_Limit": [31, 1],
"Max_Voltage_Limit": [32, 2],
"Min_Voltage_Limit": [34, 2],
"PWM_Limit": [36, 2],
"Current_Limit": [38, 2],
"Velocity_Limit": [44, 4],
"Max_Position": [48, 4],
"Min_Position": [52, 4],
"External_Port_Mode_1": [56, 1],
"External_Port_Mode_2": [57, 1],
"External_Port_Mode_3": [58, 1],
"Startup_Configuration": [60, 1],
"Shutdown": [63, 1],
"Torque_Enable": [64, 1],
"LED": [65, 1],
"Status_Return_Level": [68, 1],
"Registered_Instruction": [69, 1],
"Hardware_Error_Status": [70, 1],
"Velocity_I_Gain": [76, 2],
"Velocity_P_Gain": [78, 2],
"Position_D_Gain": [80, 2],
"Position_I_Gain": [82, 2],
"Position_P_Gain": [84, 2],
"Feedforward_2nd_Gain": [88, 2],
"Feedforward_1st_Gain": [90, 2],
"Bus_Watchdog": [98, 1],
"Goal_PWM": [100, 2],
"Goal_Current": [102, 2],
"Goal_Velocity": [104, 4],
"Profile_Acceleration": [108, 4],
"Profile_Velocity": [112, 4],
"Goal_Position": [116, 4],
"Realtime_Tick": [120, 2],
"Moving": [122, 1],
"Moving_Status": [123, 1],
"Present_PWM": [124, 2],
"Present_Current": [126, 2],
"Present_Velocity": [128, 4],
"Present_Position": [132, 4],
"Velocity_Trajectory": [136, 4],
"Position_Trajectory": [140, 4],
"Present_Input_Voltage": [144, 2],
"Present_Temperature": [146, 1],
"Backup_Ready": [147, 1],
"External_Port_Data_1": [152, 2],
"External_Port_Data_2": [154, 2],
"External_Port_Data_3": [156, 2],
"Indirect_Address_1": [168, 2],
"Indirect_Address_2": [170, 2],
"Indirect_Address_3": [172, 2]
}
}
}

88
mqtt_listener.py Normal file
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import paho.mqtt.client as mqtt
import re
from dynio import *
import time
import threading
from statistics import mean
from collections import deque, Counter
# State variable to check if HOME is received before POS
home_received = False
dxl_io = []
feed_motor = None
def set_feed(num):
global feed_motor
feed_motor.set_velocity(75)
feed_motor.torque_enable()
feed_motor.set_position(int(convert_to_ticks(num)))
def disable_torque():
global feed_motor
feed_motor.torque_disable()
def convert_to_ticks(angle):
# Define the input range
min_input = 0
max_input = 90
# Define the output range
max_output = 1212
min_output = max_output - 1024
# Ensure the angle is within the input range
angle = max(min(angle, max_input), min_input)
# Perform the inverse linear transformation
value = ((angle - min_input) / (max_input - min_input)) * (max_output - min_output) + min_output
return value
# The callback for when the client receives a CONNACK response from the server.
def on_connect(client, userdata, flags, rc):
print(f"Connected with result code {str(rc)}")
# Subscribing in on_connect() means that if we lose the connection and
# reconnect then subscriptions will be renewed.
client.subscribe("/jc/feed")
# Connect to Dynamixels
global dxl_io, feed_motor
dxl_io = dxl.DynamixelIO('/dev/ttyS0')
feed_motor = dxl_io.new_mx64(2, 2)
feed_motor.get_position()
# The callback for when a PUBLISH message is received from the server.
def on_message(client, userdata, msg):
global home_received, feed_motor
message = msg.payload.decode()
pos_num = float(message) # Extract the number from the message and convert to float
set_feed(pos_num)
# Define a function to continuously report the log
def continuous_log_reporting():
global feed_motor
while True:
if feed_motor:
client.publish("/jc/feed/log", (feed_motor.get_position() - 188) * 90 / 1024)
time.sleep(1) # Adjust the sleep time as needed
# Start the continuous log reporting in a separate thread
log_thread = threading.Thread(target=continuous_log_reporting)
log_thread.daemon = True
log_thread.start()
client = mqtt.Client()
client.on_connect = on_connect
client.on_message = on_message
# Connect to the broker
client.connect("192.168.1.1", 1883, 60)
# Blocking call that processes network traffic, dispatches callbacks and
# handles reconnecting.
client.loop_forever()

15
mqtt_listener.service Normal file
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[Unit]
Description=MQTT Listener Service
After=network.target
[Service]
ExecStart=/home/biqu/mqtt_start.sh
WorkingDirectory=/home/biqu
StandardOutput=inherit
StandardError=inherit
Restart=always
User=biqu
[Install]
WantedBy=multi-user.target

10
mqtt_start.sh Executable file
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#!/bin/bash
# navigate to the directory of the script
cd /home/biqu/screw_control/
# activate the python environment, if you're using one
# source /path_to_your_venv/bin/activate
# run the script
/usr/bin/python3 mqtt_listener.py