Module hitec

source code

The CKBot.hitec python module provides classes used to communicate with CKBot robot modules connected the hitec HMI serial bus (rather than CAN) using a protocol similar to the Robotics Bus Protocol. These classes are primarily used to interface with the CKBot.logical python module found in the Modlab CKBot repository. For more information on
the low-level interface, please refer to the Hitec HMI Manual found at #J TODO.


Main uses of this module:
(*) control CKBot robot modules (specifically the servos) connected to a the hitec HMI serial bus
(*) mimics the behaviour of the CAN Bus, except using the hitec hitec HMI serial bus  as a communications channel

Example 1 - hitec robot module only: 
  #>>> import logical
  #>>> nodes = [0x01, 0x06]
  #>>> p = hitec.Protocol(nodes = nodes)
  #>>> p.send_cmd([0x02,7,0])

Example 2 - Integrate with CKBot.logical python module:
  >>> import logical
  >>> nodes = [0x01, 0x06, 0x03]
  >>> p = hitec.Protocol(nodes = nodes)
  >>> c = logical.Cluster(p)
  >>> c.populate(3,{0x01:'head', 0x06:'mid', 0x03:'tail'})
  >>> c.at.head.set_pos(1000)

Both examples sets the position of the 0xD1 robot module, to 1000 (10 degrees from the  neutral position)