{
 "metadata": {
  "name": "",
  "signature": "sha256:c9053b5737e8aefe2780451d8b56f9ecfba850ebebf73e8eb6a6fa4517dfcc15"
 },
 "nbformat": 3,
 "nbformat_minor": 0,
 "worksheets": [
  {
   "cells": [
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "import serial\n",
      "import array"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 1
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "port = \"/dev/ttyAMA0\"\n",
      "ser = serial.Serial(port, 2400, timeout=30)\n",
      "print(ser)"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "output_type": "stream",
       "stream": "stdout",
       "text": [
        "Serial<id=0x74acc470, open=True>(port='/dev/ttyAMA0', baudrate=1200, bytesize=8, parity='N', stopbits=1, timeout=30, xonxoff=False, rtscts=False, dsrdtr=False)\n"
       ]
      }
     ],
     "prompt_number": 2
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def send(data):\n",
      "    bb = array.array('B', data).tostring()\n",
      "    ser.write(bb)\n",
      "    ser.flush()\n",
      "    return ser.read(ser.inWaiting())\n",
      "\n",
      "def receive():\n",
      "    bb = ser.read(ser.inWaiting())\n",
      "    return bb"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 12
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "def init():\n",
      "    return send([0x20, 0x15, 0xF1, 0xF2, 0xF3, 0x03])\n",
      "def move():\n",
      "    return send([0x20, 0x01, 0x55, 0x03])\n",
      "def motor_check():\n",
      "    return send([0x0f, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03])\n",
      "def touch_base():\n",
      "    return send([0x0f, 0x80, 0x80, 0x80, 0x80, 0x80, 0x80, 0x03])"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 35
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "init()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 11,
       "text": [
        "b''"
       ]
      }
     ],
     "prompt_number": 11
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "#hello\n",
      "send([0x20])"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 30,
       "text": [
        "b'\\xf1'"
       ]
      }
     ],
     "prompt_number": 30
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "motor_check()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 97,
       "text": [
        "b'\\t\\x03'"
       ]
      }
     ],
     "prompt_number": 97
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "touch_base()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 105,
       "text": [
        "b''"
       ]
      }
     ],
     "prompt_number": 105
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "#parameters: \n",
      ",\n",
      "#    ,\n",
      "#    \n",
      "\n",
      "#    \n",
      "#..., \n",
      "#    csipesz (00-FF)\n",
      "send([0x0f, #    all axes\n",
      "      0xFF, #    A-tengely (00 jobb -> bal FF)\n",
      "      0x80, #    B-tengely (00 fent -> lent) !!!!!!!alul bele\u00fct az asztalba !!!!!!\n",
      "      0x00, #    C-tengely (00 ny\u00fajt -> hajl\u00edt) - k\u00f6ny\u00f6k\n",
      "      0x10, #    D-tengely (10 fent -> lent) - csukl\u00f3 le fel  !!!!!!!!! 10 alatt bele\u00fct mag\u00e1ba !!!!!!!!\n",
      "      0x00, #    E-tengely (00 -> FF) - csukl\u00f3 forgat (\u00f6sszesen 180 fok)\n",
      "      0xFF, #    csipesz (00 nyit -> FF z\u00e1r)\n",
      "      0x03  #    command end\n",
      "      ])"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 88,
       "text": [
        "b'\\x0f\\x03'"
       ]
      }
     ],
     "prompt_number": 88
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "send([0x00, 0x90, 0x03])   # A-tengely"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 102,
       "text": [
        "b''"
       ]
      }
     ],
     "prompt_number": 102
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "send([0x01, 0x70, 0x03])   # B-tengely"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "metadata": {},
       "output_type": "pyout",
       "prompt_number": 104,
       "text": [
        "b''"
       ]
      }
     ],
     "prompt_number": 104
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "ser.close()"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 140
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "ser.read(ser.inWaiting())"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "TypeError",
       "evalue": "argument must be an int, or have a fileno() method.",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[0;31mTypeError\u001b[0m                                 Traceback (most recent call last)",
        "\u001b[0;32m<ipython-input-39-d0d45c813eb6>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0minWaiting\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[0;32m/usr/lib/python3/dist-packages/serial/serialposix.py\u001b[0m in \u001b[0;36minWaiting\u001b[0;34m(self)\u001b[0m\n\u001b[1;32m    433\u001b[0m         \u001b[0;34m\"\"\"Return the number of characters currently in the input buffer.\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    434\u001b[0m         \u001b[0;31m#~ s = fcntl.ioctl(self.fd, TERMIOS.FIONREAD, TIOCM_zero_str)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 435\u001b[0;31m         \u001b[0ms\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mfcntl\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mioctl\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mfd\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mTIOCINQ\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mTIOCM_zero_str\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    436\u001b[0m         \u001b[0;32mreturn\u001b[0m \u001b[0mstruct\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0munpack\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'I'\u001b[0m\u001b[0;34m,\u001b[0m\u001b[0ms\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m0\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    437\u001b[0m \u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;31mTypeError\u001b[0m: argument must be an int, or have a fileno() method."
       ]
      }
     ],
     "prompt_number": 39
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [
      "send([0x03])"
     ],
     "language": "python",
     "metadata": {},
     "outputs": [
      {
       "ename": "ValueError",
       "evalue": "Attempting to use a port that is not open",
       "output_type": "pyerr",
       "traceback": [
        "\u001b[0;31m---------------------------------------------------------------------------\u001b[0m\n\u001b[0;31mValueError\u001b[0m                                Traceback (most recent call last)",
        "\u001b[0;32m<ipython-input-40-6b1f1aa02122>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0msend\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m0x03\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[0;32m<ipython-input-33-faeb4060ad56>\u001b[0m in \u001b[0;36msend\u001b[0;34m(data)\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0msend\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      2\u001b[0m     \u001b[0mbb\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0marray\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'B'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtostring\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m     \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mbb\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      4\u001b[0m     \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mflush\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      5\u001b[0m     \u001b[0;32mreturn\u001b[0m \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0minWaiting\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;32m/usr/lib/python3/dist-packages/serial/serialposix.py\u001b[0m in \u001b[0;36mwrite\u001b[0;34m(self, data)\u001b[0m\n\u001b[1;32m    464\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mwrite\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    465\u001b[0m         \u001b[0;34m\"\"\"Output the given string over the serial port.\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 466\u001b[0;31m         \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_isOpen\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mportNotOpenError\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    467\u001b[0m         \u001b[0mt\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mlen\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    468\u001b[0m         \u001b[0md\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;32m/usr/lib/python3/dist-packages/IPython/core/interactiveshell.py\u001b[0m in \u001b[0;36mrun_code\u001b[0;34m(self, code_obj)\u001b[0m\n\u001b[1;32m   2881\u001b[0m                 \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mhooks\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mpre_run_code_hook\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2882\u001b[0m                 \u001b[0;31m#rprint('Running code', repr(code_obj)) # dbg\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m-> 2883\u001b[0;31m                 \u001b[0mexec\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mcode_obj\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0muser_global_ns\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0muser_ns\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m   2884\u001b[0m             \u001b[0;32mfinally\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m   2885\u001b[0m                 \u001b[0;31m# Reset our crash handler in place\u001b[0m\u001b[0;34m\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;32m<ipython-input-30-d5e58ed81d74>\u001b[0m in \u001b[0;36m<module>\u001b[0;34m()\u001b[0m\n\u001b[0;32m----> 1\u001b[0;31m \u001b[0msend\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m[\u001b[0m\u001b[0;36m0x20\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0x47\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0;36m0x03\u001b[0m\u001b[0;34m]\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m",
        "\u001b[0;32m<ipython-input-11-faeb4060ad56>\u001b[0m in \u001b[0;36msend\u001b[0;34m(data)\u001b[0m\n\u001b[1;32m      1\u001b[0m \u001b[0;32mdef\u001b[0m \u001b[0msend\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      2\u001b[0m     \u001b[0mbb\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0marray\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0marray\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m'B'\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mtostring\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m----> 3\u001b[0;31m     \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mwrite\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mbb\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m      4\u001b[0m     \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mflush\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m      5\u001b[0m     \u001b[0;32mreturn\u001b[0m \u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0mread\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mser\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0minWaiting\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;32m/usr/lib/python3/dist-packages/serial/serialposix.py\u001b[0m in \u001b[0;36mwrite\u001b[0;34m(self, data)\u001b[0m\n\u001b[1;32m    464\u001b[0m     \u001b[0;32mdef\u001b[0m \u001b[0mwrite\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mself\u001b[0m\u001b[0;34m,\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m:\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    465\u001b[0m         \u001b[0;34m\"\"\"Output the given string over the serial port.\"\"\"\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0;32m--> 466\u001b[0;31m         \u001b[0;32mif\u001b[0m \u001b[0;32mnot\u001b[0m \u001b[0mself\u001b[0m\u001b[0;34m.\u001b[0m\u001b[0m_isOpen\u001b[0m\u001b[0;34m:\u001b[0m \u001b[0;32mraise\u001b[0m \u001b[0mportNotOpenError\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[0m\u001b[1;32m    467\u001b[0m         \u001b[0mt\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mlen\u001b[0m\u001b[0;34m(\u001b[0m\u001b[0mdata\u001b[0m\u001b[0;34m)\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n\u001b[1;32m    468\u001b[0m         \u001b[0md\u001b[0m \u001b[0;34m=\u001b[0m \u001b[0mdata\u001b[0m\u001b[0;34m\u001b[0m\u001b[0m\n",
        "\u001b[0;31mValueError\u001b[0m: Attempting to use a port that is not open"
       ]
      }
     ],
     "prompt_number": 40
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 40
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": [],
     "prompt_number": 40
    },
    {
     "cell_type": "code",
     "collapsed": false,
     "input": [],
     "language": "python",
     "metadata": {},
     "outputs": []
    }
   ],
   "metadata": {}
  }
 ]
}