scout pybind: tested with scout v2.0

westonrobot · May 9, 2024 · 8aab2e6 · 8aab2e6
1 parent 88a016b
commit 8aab2e6
Showing 1 changed file with 60 additions and 14 deletions.
diff --git a/test/python/test_scout_robot.py b/test/python/test_scout_robot.py
@@ -14,18 +14,25 @@ def test_scout_robot():
         print(f"Failed to connect to the robot: {e}")
         return
 
+    print("protocol version: ", robot.get_parser_protocol_version())
+    print("robot version: ", robot.request_version())
+
     # Enable commanded mode
     robot.enable_commanded_mode()
 
     # Set motion command
     while True:
         # robot control
-        robot.set_motion_command(1.0, 0.0)
+        robot.set_motion_command(0.0, 0.0)
 
-        # robot state monitoring
+        # scout core state
         state = robot.get_robot_state()
         print("time: ", state.time_stamp)
-        print("battery voltage: ", state.system_state.battery_voltage)
+        print("system_state: ")
+        print(" - vehicle_state: ", state.system_state.vehicle_state)
+        print(" - control_mode: ", state.system_state.control_mode)
+        print(" - battery voltage: ", state.system_state.battery_voltage)
+        print(" - error_code: ", state.system_state.error_code)
         print(
             "motion state: {0}, {1}, {2}, {3}".format(
                 state.motion_state.linear_velocity,
@@ -34,17 +41,56 @@ def test_scout_robot():
                 state.motion_state.steering_angle,
             )
         )
-        print("rc state: {0}, {1}, {2}, {3}; {4}, {5}, {6}, {7}; {8}".format(
-            state.rc_state.swa,
-            state.rc_state.swb,
-            state.rc_state.swc,
-            state.rc_state.swd,
-            state.rc_state.stick_right_v,
-            state.rc_state.stick_right_h,
-            state.rc_state.stick_left_v,
-            state.rc_state.stick_left_h,
-            state.rc_state.var_a
-        ))
+        print("light_state: ")
+        print(" - front_light_mode: ", state.light_state.front_light.mode)
+        print(" - rear_light_mode: ", state.light_state.rear_light.mode)
+        print(
+            "rc state: {0}, {1}, {2}, {3}; {4}, {5}, {6}, {7}; {8}".format(
+                state.rc_state.swa,
+                state.rc_state.swb,
+                state.rc_state.swc,
+                state.rc_state.swd,
+                state.rc_state.stick_right_v,
+                state.rc_state.stick_right_h,
+                state.rc_state.stick_left_v,
+                state.rc_state.stick_left_h,
+                state.rc_state.var_a,
+            )
+        )
+
+        # actuator state
+        actuator_state = robot.get_actuator_state()
+        for i in range(4):
+            print(
+                "actuator {0} hs: {1}, {2}, {3}, {4}".format(
+                    i,
+                    actuator_state.actuator_hs_state[i].motor_id,
+                    actuator_state.actuator_hs_state[i].rpm,
+                    actuator_state.actuator_hs_state[i].current,
+                    actuator_state.actuator_hs_state[i].pulse_count
+                )
+            )
+            print(
+                "actuator {0} ls: {1}, {2}, {3}, {4}".format(
+                    i,
+                    actuator_state.actuator_ls_state[i].driver_voltage,
+                    actuator_state.actuator_ls_state[i].driver_temp,
+                    actuator_state.actuator_ls_state[i].motor_temp,
+                    actuator_state.actuator_ls_state[i].driver_state,
+                )
+            )
+
+        # common sensor state
+        common_sensor = robot.get_common_sensor_state()
+        print(
+            "bms: voltage {0}, current {1}, temperature {2}, soc {3}, soh {4}".format(
+                common_sensor.bms_basic_state.voltage,
+                common_sensor.bms_basic_state.current,
+                common_sensor.bms_basic_state.temperature,
+                common_sensor.bms_basic_state.battery_soc,
+                common_sensor.bms_basic_state.battery_soh,
+            )
+        )
 
         time.sleep(20 / 1000)