These are the main ideas about work with serial port:
To read a data from ESP, use serial port connection. Here is a guide how to read data from serial port
Step 1: Check if ESP is connected to your computer
ls /dev/ttyUSB*
Step 2: Check if there are some messages in the serial port
sudo picocom /dev/ttyUSB0 -b 115200
If you do not have the picocom package these are commands to install it:
-
Ubuntu:
sudo apt-get install picocom -
Arch Linux:
pacman -Sy picocom
Step 3: Save the messages:
To save the output from the port, run the Open_serial.py - code use pyserial package to open a connection.
Use the code as start point for any project, everything will work:)
The messages in a serial port are sent in the format you choose (or default for a board you are working with).
You can put your code into a board, it will run in inf loop.
How to do this?
Step 1: Connect to the board shell:
rshell -p /dev/ttyUSB0 -b 115200
- If the process is stopped during the step "Trying to connect to REPL ...", try to push the reset button on a board, or try the command with sudo. If it doesn't help try to reinstall the rshell.
Step 2: Upload a script(s) with rshell
- If you need to upload only the main.py file
cp path/to/main.py /pyboard/main.py
- If you need to upload many files
cp -r path/to/*.py /pyboard/
- If you need to upload many files with a folder
mkdir /pyboard/<folder_name>
cp -r path/to/<folder_name>/*.py /pyboard/<folder_name>/
Step 4: Close the rshell
Press ctrl+C
- The guide for python scripts
Run your code
Step 1: Install picocom
sudo apt-get install picocom
Step 2: Open shell
sudo picocom /dev/ttyUSB0 -b 115200
Step 3: Run script
Run script: ctrl+d
Stop script: ctrl+c
Exit from shell: ctrl+a + ctrl+q
To save the values of IMU with the time corresponding to each value that is read from IMU, run IMU_serial_reading_for_calibration.py
Velocity control mode: https://emanual.robotis.com/docs/en/dxl/mx/mx-106-2/