component.controller.SerialPortBridgeGeneric

The “SerialPortBridgeGeneric” component is used to send data (force, displacement, pressure…) through the usb port. Usally used to send data to an Arduino card to control the real robot.

Example

rootNode.createObject('SerialPortBridgeGeneric', name="serial", port="/dev/ttyACM0", baudRate="115200", size="5", listening=True, header=255, packetOut=...)

Data fields

Required	Description
port	Serial port name.
baudRate	Transmission speed.
packetOut	Data to send: vector of unsigned char, each entry should be an integer between 0 and (header-1) <= 255. The value of ‘header’ will be sent at the beginning of the sent data, enabling to implement a header research in the ‘receiving’ code, for synchronization purposes.
header	Vector of unsigned char. Only one value is espected, two values if splitPacket = 1.
size	Size of the arrow to send. Use to check sentData size. Will return a warning if sentData size does not match this value.
receive	If true, will read from serial port (timeOut = 10ms).

Optional	Description
precise	If true, will send the data in the format [header[0],[MSB,LSB]*2*size].
splitPacket	If true, will split the packet in two for lower error rate (only in precise mode), data will have the format [header[0],[MSB,LSB]*size],[header[1],[MSB,LSB]*size].
redundancy	Each packet will be send that number of times (1=default).

Properties	Description
packetIn	Read only. Data received: vector of unsigned char, each entry should be an integer between 0 and (header-1) <= 255.