Funciona todo sin modulo_imu

2026-05-21 09:51:42 -05:00
parent 026820f205
commit 19dc4bcf90
19 changed files with 1857 additions and 0 deletions
@@ -0,0 +1,40 @@
+import serial
+import time
+
+try:
+    puerto = serial.Serial('/dev/ttyAMA0', 921600, timeout=1.0)
+    print("Enviando comando de calibracion C:")
+    puerto.write(b"C:\n")
+    time.sleep(1)
+    
+    # Leer todo lo que devuelva
+    lines = []
+    end_time = time.time() + 2
+    while time.time() < end_time:
+        if puerto.in_waiting:
+            lines.append(puerto.readline().decode('utf-8', errors='ignore').strip())
+            
+    for l in lines[-10:]: # Mostrar ultimas 10 lineas para no saturar
+        print("RX:", l)
+
+    print("Enviando comando A:1.000,1.000,1.000,1.000 (100% velocidad)")
+    puerto.write(b"A:1.000,1.000,1.000,1.000\n")
+    time.sleep(0.5)
+    
+    # Leer telemetria para ver si incrementan los ticks
+    ticks_lines = []
+    end_time = time.time() + 1
+    while time.time() < end_time:
+        if puerto.in_waiting:
+            line = puerto.readline().decode('utf-8', errors='ignore').strip()
+            if line.startswith("T:"):
+                ticks_lines.append(line)
+                
+    for l in ticks_lines[-5:]:
+        print("TICKS:", l)
+        
+    puerto.write(b"S:\n")
+    print("Stop enviado.")
+    
+except Exception as e:
+    print("Error:", e)