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Author: mstep44

getting-started/muscle-simple.py

@@ -1,48 +1,49 @@
-'''
-This is a simple example of how to use the ThermoFlex library to control a muscle.
-The ThermoFlex library and install instructions can be found here:
-https://github.com/Delta-Robotics-Inc/TF-Python-Serial
-
-To run this example, you will need to have a ThermoFlex network set up with at least
-one node connected to a muscle.
-
-In other words, connect a ThermoFlex Node Controller to your computer via USB, and
-connect a muscle to the Node Controller. For more a complicated newtwork setup using
-multiple nodes connected over CAN, see the other examples in this folder.
-
-**NOTE: Be ready to hit the left button on the controller to stop the muscle from moving**
-- In the future, a safety feature will be added to prevent the muscle from overheating.
-- This safety feature will utilize the resistance of the muscle to determine if it is overheating.
-- For now, be ready to stop the muscle from moving if it gets too hot.
-'''
-import thermoflex as tf
-import time
-
-node_net = tf.discover([105])[0]  # Discover networks over USB and get the first one
-
-node_net.refreshDevices()  # Discover all Node devices on the selected network
-time.sleep(1) # Wait for the devices to be discovered
-
-node = node_net.node_list[0]  # Get the first connected Node
-
-muscle = tf.Muscle(idnum = 0)  # Match idnum to the muscle port number 0=M1, 1=M2
-node.setMuscle(0, muscle)  # Assign the muscle to the Node at port 0
-
-# Move the Muscle
-muscle.setMode("percent")
-muscle.setSetpoint("percent", 0.1)
-muscle.setEnable(True)
-tf.delay(2)
-muscle.setSetpoint("percent", 0.3)
-tf.delay(2)
-muscle.setSetpoint("percent", 0.4)
-tf.delay(2)
-muscle.setSetpoint("percent", 0.5)
-
-tf.delay(15)  # Increase if needed but be careful!  There is no safegaurd to prevent the muscle from overheating
-
-node.disableAll()
-
-time.sleep(1)
-tf.endAll()
-
+'''
+This is a simple example of how to use the ThermoFlex library to control a muscle.
+The ThermoFlex library and install instructions can be found here:
+https://github.com/Delta-Robotics-Inc/TF-Python-Serial
+
+To run this example, you will need to have a ThermoFlex network set up with at least
+one node connected to a muscle.
+
+In other words, connect a ThermoFlex Node Controller to your computer via USB, and
+connect a muscle to the Node Controller. For more a complicated newtwork setup using
+multiple nodes connected over CAN, see the other examples in this folder.
+
+**NOTE: Be ready to hit the left button on the controller to stop the muscle from moving**
+- In the future, a safety feature will be added to prevent the muscle from overheating.
+- This safety feature will utilize the resistance of the muscle to determine if it is overheating.
+- For now, be ready to stop the muscle from moving if it gets too hot.
+'''
+import thermoflex as tf
+import time
+
+# tf.set_debug_level("DEBUG") # Use for debug if needed
+
+node_net = tf.discover([105])[0]  # Discover networks over USB and get the first one
+
+node_net.refreshDevices()  # Discover all Node devices on the selected network
+tf.delay(1) # Wait for the devices to be discovered
+
+node = node_net.node_list[0]  # Get the first connected Node
+
+muscle = tf.Muscle(idnum = 0)  # Match idnum to the muscle port number 0=M1, 1=M2
+node.setMuscle(0, muscle)  # Assign the muscle to the Node at port 0
+
+# Move the Muscle
+muscle.setMode("percent")
+muscle.setSetpoint("percent", 0.1)
+muscle.setEnable(True)
+tf.delay(2)
+muscle.setSetpoint("percent", 0.3)
+tf.delay(2)
+muscle.setSetpoint("percent", 0.4)
+tf.delay(2)
+muscle.setSetpoint("percent", 0.5)
+
+tf.delay(4)  # Increase if needed but be careful!  There is no safegaurd to prevent the muscle from overheating
+
+node.disableAll()
+
+tf.delay(1)
+tf.endAll()