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b3mCtrl.py
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#!/usr/bin/env python
# -*- coding: utf-8 -*-
import math, time
import serial
def flatten(L): #多次元を１次元に直す
if isinstance(L, list):
if L == []:
return []
else:
return flatten(L[0]) + flatten(L[1:])
else:
return [L]
class B3mClass(object):
MAX_ID=255
MIN_ID=0
MAX_POS = 32000
MIN_POS = -32000
MEMORY_MAP = {
"ID":(0x00,"byte",0,255),
"Baudrate":(0x01,"ulong",115200,3000000),
"PositionMinLimit":(0x05,"short",-32000,32000),
"PositionMaxLimit":(0x07,"short",-32000,32000),
"PositionCenterOffset":(0x09,"short",-18000,18000),
"MCUTempLimit":(0x0B,"short",-32768,32768),
"MCUTempPowerLimit":(0x0D,"short",0,100),
"MotorTempLimit":(0x0E,"short",-32768,32768),
"MotorTempPowerLimit":(0x10,"byte",0,100),
"CurrentLimit":(0x11,"ushort",0,65535),
"CurrentPowerLimit":(0x13,"byte",0,100),
"LockDetectTime":(0x14,"byte",0,255),
"LockDetectOutputRate":(0x15,"byte",0,100),
"LockDetectTimePowerLimit":(0x16,"byte",0,100),
"InputVoltageMin":(0x17,"ushort",0,65535),
"InputVoltageMax":(0x19,"ushort",0,65535),
"TorqueLimit":(0x1B,"byte",0,100),
"DeadBandWidth":(0x1C,"ushort",0,65535),
"MotorCWRatio":(0x22,"byte",0,100),
"MotorCCWRatio":(0x23,"byte",0,100),
"ServoOption":(0x27,"byte",0,255),
"ServoMode":(0x28,"ushort",0,255),
"TorqueON":(0x28,"byte",0,255),
"RunMode":(0x29,"byte",-32000,32000),
"DesiredPosition":(0x2A,"short",-32000,32000),
"CurrentPosition":(0x2C,"short",None,None),
"PreviousPosition":(0x2E,"short",None,None),
"DesiredVelosity":(0x30,"short",-32768,32768),
"CurrentVelosity":(0x32,"short",None,None),
"PreviousVelosity":(0x34,"short",None,None),
"DesiredTime":(0x36,"ushort",0,65565),
"RunningTime":(0x38,"ushort",None,None),
"WorkingTime":(0x3A,"ushort",None,None),
"DesiredTorque":(0x3C,"short",-32768,32768),
"SystemClock":(0x3E,"ulong",None,None),
"SamplingTime":(0x42,"ushort",None,None),
"MCUTemperature":(0x44,"short",None,None),
"MotorTemperature":(0x46,"short",None,None),
"Current":(0x48,"short",None,None),
"InputVoltage":(0x4A,"ushort",None,None),
"PwmDuty":(0x4C,"ushort",None,None),
"PwmFrequency":(0x4E,"ushort",0,65565),
"EncoderValue":(0x50,"ushort",None,None),
"EncoderCount":(0x52,"long",-(2**31),(2**31)-1),
"HallICState":(0x56,"byte",None,None),
"ControlRow":(0x5C,"ushort",None,None),
"GainPresetNo":(0x5C,"byte",0,2),
"ControlType":(0x5D,"byte",None,None),
"Kp0":(0x5E,"ulong",0,(2**31)-1),
"Kd0":(0x62,"ulong",0,(2**31)-1),
"Ki0":(0x66,"ulong",0,(2**31)-1),
"StaticFriction0":(0x6A,"ushort",0,(2**16)-1),
"DynamicFriction0":(0x6C,"ushort",0,(2**16)-1),
"Kp1":(0x6E,"ulong",0,(2**31)-1),
"Kd1":(0x72,"ulong",0,(2**31)-1),
"Ki1":(0x76,"ulong",0,(2**31)-1),
"StaticFriction1":(0x7A,"ushort",0,(2**16)-1),
"DynamicFriction1":(0x7C,"ushort",0,(2**16)-1),
"Kp2":(0x7E,"ulong",0,(2**31)-1),
"Kd2":(0x82,"ulong",0,(2**31)-1),
"Ki2":(0x86,"ulong",0,(2**31)-1),
"StaticFriction2":(0x8A,"ushort",0,(2**16)-1),
"DynamicFriction2":(0x8C,"ushort",0,(2**16)-1),
"StatusError":(0x9D,"byte",None,None),
# "Status":(0x9E,"ulong",None,None),
"StatusSystem":(0x9E,"byte",None,None),
"StatusMotor":(0x9F,"byte",None,None),
"StatusUart":(0xA0,"byte",None,None),
"StatusCommand":(0xA1,"byte",None,None),
"ModelNumber":(0xA2,"ulong",None,None),
"ModelNumberVoltageClass":(0xA2,"char",None,None),
"ModelNumberVersion":(0xA3,"byte",None,None),
"ModelNumberTorque":(0xA4,"byte",None,None),
"ModelNumberCase":(0xA5,"byte",None,None),
"ModelType":(0xA6,"ulong",None,None),
"ModelTypeMotor":(0xA8,"char",None,None),
"ModelTypeDevice":(0xA9,"char",None,None),
"FwVersion":(0xAA,"ulong",None,None),
"FwVersionBuild":(0xAA,"byte",None,None),
"FwVersionRevision":(0xAB,"byte",None,None),
"FwVersionMinor":(0xAC,"byte",None,None),
"FwVersionMajor":(0xAD,"byte",None,None)
#"EncoderOffsetCenter":(0xAE,"short"),
#"EncoderOffset":(0xB0,"short")
}
def __init__(self, _port=None, _baudrate=1500000, _timeout=0.005):
self.port = _port
self.baudrate = _baudrate
self.timeout = _timeout
self.lastSnycEndTime = time.time()
self.receiveLenPlan = [] #1回データやり取りでの受信byte数のリスト
# self.txtFile = open("b3mSnycTimeRand.txt", "w")
# self.hoge=0
def __del__(self):
self.b3mSerial.close()
@staticmethod
def degToPos(deg):
pos = int(deg*(B3mClass.MAX_POS-B3mClass.MIN_POS)/640.0)
if (B3mClass.__checkRange(pos, 32000, -32000) is False):
print "deg range error"
return False
return pos
@staticmethod
def posToDeg(pos):
if (B3mClass.__checkRange(pos, 32000, -32000) is False):
print "pos range error"
return False
return (pos-7500)*640.0/(B3mClass.MAX_POS-B3mClass.MIN_POS)
@staticmethod
def radToPos(rad):
pos = (B3mClass.MAX_POS - B3mClass.MIN_POS)/(640.0/180.0)*(rad/math.pi)
if (B3mClass.__checkRange(pos, 32000, -32000) is False):
print "rad range error"
return False
return int(pos)
@staticmethod
def posToRad(pos):
if (B3mClass.__checkRange(pos, 32000, -32000) is False):
print "pos range error"
return False
return pos*(640.0/180.0)*math.pi/(B3mClass.MAX_POS-B3mClass.MIN_POS)
@staticmethod
def __assemblyByte(data):
reData=0
if type(data) is not list:
return False
for i in range(len(data))[::-1]: #rangeの反転
reData += data[i]<<(8*i)
return reData
@staticmethod
def __disassemblyByte(data, byteLength): #リトルエンディアン
reData = []
for i in range(byteLength):
reData.append( data&0xFF )
data = data>>8
return reData
@staticmethod
def __unsignedToSigned(bit, byteLength):
if bit >= 1<<(8*byteLength-1):
return -( (0b1<<(8*byteLength)) - bit )
return bit
@staticmethod
def __signedToUnsigned(num, byteLength):
if (num<0):
return (1<<(8*byteLength)) + num
return num
@staticmethod
def __checkRange(val, max, min): #valが以上以下に収まっているか
val = flatten(val)
for i in range(len(val)):
if (val[i]<min) or (max<val[i]):
return False
return True
@staticmethod
def __checkOption(option):
return option in {"ERROR", "SYSTEM", "MOTOR", "UART", "COMMAND", "CLEAR"}
@staticmethod
def __optionToCmd(option):
if option == "ERROR":
return 0b000
elif option=="SYSTEM":
return 0b001
elif option == "MOTOR":
return 0b010
elif option == "UART":
return 0b011
elif option == "COMMAND":
return 0b100
elif option == "CLEAR":
return 0b10000000
elif option == "NORMAL":
return 0b00
## 通信開始設定
# @param _port(str) = デバイス名
# @param _baudrate(int) = 通信速度[bps]
# @param _timeout(float) = 受信待ちタイムアウト時間[sec]
def begin(self, _port=None, _baudrate=None, _timeout=None):
if _port is not None:
self.port = _port
if _baudrate is not None:
self.baudrate = _baudrate
if _timeout is not None:
self.timeout = _timeout
self.gardTime = 2.0/self.baudrate + 220*(10**-6) #2バイト分のデータ＋220us以上
if self.timeout<self.gardTime:
print "timeout is shorter than gardTime"
self.b3mSerial = serial.Serial(self.port, self.baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=self.timeout)
def __synchronize(self, txBuf, rxLen):
id = txBuf[2]
txBuf = [len(txBuf)+2] + txBuf
txBuf += [sum(txBuf)&0xFF]
self.b3mSerial.reset_input_buffer() #残存rxバッファを消す
self.b3mSerial.write(bytearray(txBuf))
self.b3mSerial.flush() #全送信するまで待機
# start = time.time()
rxBuf=self.b3mSerial.read(rxLen)
# self.lastSnycEndTime = time.time() #受信完了時間
rxBuf = map(lambda x:ord(x), rxBuf)
if len(rxBuf) == rxLen:
# snycTime = self.lastSnycEndTime - start
# print "rxTime",snycTime
# self.txtFile.write(str(snycTime)+"\n")
return rxBuf
else:
print "b3m rx signal error"+str(id)
return False
## ROMをRAMに書き込み(シングル/マルチ)
# @param id(int_or_list) = サーボID
# @param option(str) = 返値オプション
# @return 成功(tuple) = (True, ステータス)
# @return 失敗(tuple) = (False, False)
def loadCmd(self, id, option="ERROR"):
if type(id) is not list:
id = [id]
if B3mClass.__checkRange(id, 255, 0) is False:
print "id range error"
return (False,False)
txBuf = [0x01, B3mClass.__optionToCmd(option)] + id
if len(id)==1: #シングルモード
rxBuf = self.__synchronize(txBuf, 5)
if (rxBuf is False):
return (False,False)
reStatus = rxBuf[2]
return (True, reStatus)
else: #マルチモード
rxBuf = self.__synchronize(txBuf, 0)
if (rxBuf is False):
return (False,False)
return (True, True)
## RAMをROMに書き込み(シングル/マルチ)
# @param id(int_or_list) = サーボID
# @param option(str) = 返値オプション
# @return 成功(tuple) = (True, True)
# @return 失敗(tuple) = (False, False)
def saveCmd(self, id, option="ERROR"): #RAMをROMに書き込み
if type(id) is not list:
id = [id]
if B3mClass.__checkRange(id, B3mClass.MAX_ID, B3mClass.MIN_ID) is False:
print "id range error"
return (False,False)
txBuf = [0x02, B3mClass.__optionToCmd(option)] + id
if len(id)==1: #シングルモード
rxBuf = self.__synchronize(txBuf, 5)
if (rxBuf is False):
return (False,False)
reStatus = rxBuf[2]
return (True, reStatus)
else: #マルチモード
rxBuf = self.__synchronize(txBuf, 0)
if (rxBuf is False):
return (False,False)
return (True, True)
## RAMの読み出し(シングル)
# @param id(int) = サーボID
# @param address(int) = 読み込みアドレス
# @param length(int) = 読み込みデータ長さ
# @param option(str) = 返値オプション
# @return 成功(tuple) = (RAMデータ, ステータス)
# @return 失敗(tuple) = (False, False)
def readCmd(self, id, address, length, option="ERROR"): #RAMの読み出し
if type(id) is not list:
id = [id]
if B3mClass.__checkRange(id, B3mClass.MAX_ID, B3mClass.MIN_ID) is False:
print "id range error"
return (False,False)
if B3mClass.__checkRange(address, 0xFF, 0x00) is False:
print "address range error"
return (False,False)
if B3mClass.__checkRange(length, 0xFA, 0x01) is False:
print "length range error"
return (False,False)
txBuf = [0x03, B3mClass.__optionToCmd(option)] + id + [address, length]
rxBuf = self.__synchronize(txBuf, length+5)
if (rxBuf is False):
print "rx error "
return (False,False)
reRam = rxBuf[4:-1]
reStatus = rxBuf[2]
return (reRam, reStatus)
## RAMへの書き込み(シングル/マルチ)
# @param id(int_or_list) = サーボID
# @param address(int) = 書き込みアドレス
# @param data(list) = 書き込みデータ(シングル)
# @param data(list_of_list) = 書き込みデータ(マルチ) <br>
# 例)data次元数 = idの次元数+1 id=[1,2,3] data=[[10,20], [100,200], [1000,2000]]
# @param option(str) = 返値オプション
# @return シングル成功(tuple) = (RAMデータ, ステータス)
# @return マルチ成功(tuple) = (True, True)
# @return 失敗(tuple) = (False, False)
def writeCmd(self, id, address, data, option="ERROR"): #RAMへの書き込み
if type(id) is not list:
id = [id]
if type(data) is not list:
data=[data]
if B3mClass.__checkRange(id, B3mClass.MAX_ID, B3mClass.MIN_ID) is False:
print "id range error"
return (False,False)
if B3mClass.__checkRange(address, 0xFF, 0x00) is False:
print "address range error"
return (False,False)
if B3mClass.__checkRange(data, 0xFF, 0x00) is False:
print "data range error"
return (False,False)
if len(id)==1: #シングル
txBuf = [0x04, B3mClass.__optionToCmd(option), id[0]] + flatten(data) + [address, 0x01]
rxBuf = self.__synchronize(txBuf, 5)
if (rxBuf is False):
return (False,False)
reStatus = rxBuf[2]
return (True, reStatus)
else: #マルチ
if (len(id)!=len(data)):
return (False,False)
id_data = []
for i in range(len(id)):
id_data += [id[i]] + data[i]
txBuf = [0x04] + [ B3mClass.__optionToCmd(option)] + id_data + [address] + [len(id)]
rxBuf = self.__synchronize(txBuf, 0)
if (rxBuf is False):
return (False,False)
return (True,True)
## 再起動要求(シングル/マルチ)
# @param id(int_or_list) = サーボID
# @param time(float) = 再起動遅延時間[sec]
# @param option(str) = 返値オプション
# @return 成否(bool)
def resetCmd(self, id, time=0, option="ERROR"):
time = int(time*100)
if type(id) is not list:
id = [id]
if B3mClass.__checkRange(id, B3mClass.MAX_ID, B3mClass.MIN_ID) is False:
print "id range error"
return False
if B3mClass.__checkRange(time, 25500, 0):
print "time range error"
return False
txBuf = [0x05, B3mClass.__optionToCmd(option)] + id + [time&0xFF, time>>8]
rxBuf = self.__synchronize(txBuf, 0)
if (rxBuf is False):
return False
return True
## 位置設定(シングル/マルチ)
# @param id(int_or_list) = サーボID
# @param pos(float_or_list) = 目標位置[rad]
# @param time(float) = 移動完了目標時間[sec]
# @param option(str) = 返値オプション
# @return 成否(bool)
def positionCmd(self, id, pos, time=0, option="ERROR"):
time = int(time*1000) #s → ms
if type(id) is not list:
id = [id]
if type(pos) is not list:
pos = [pos]
if B3mClass.__checkRange(id, B3mClass.MAX_ID, B3mClass.MIN_ID) is False:
print "id range error"
return (False,False)
if B3mClass.__checkRange(pos, 32000, -32000) is False:
print "position range error"
return (False,False)
if B3mClass.__checkRange(time, 655335, 0) is False:
print "time range error"
return (False,False)
if (len(id) != len(pos)):
print "id and pos length error"
return (False,False)
if B3mClass.__checkOption(option) is False:
return (False,False)
id_pos=[]
for i in range(len(id)):
id_pos += [id[i]]
pos[i] = B3mClass.__signedToUnsigned(pos[i], 2)
id_pos += B3mClass.__disassemblyByte(pos[i], 2)
txBuf = [0x06, B3mClass.__optionToCmd(option)] + id_pos + B3mClass.__disassemblyByte(int(time),2)
if len(id)==1: #シングルモード
rxBuf = self.__synchronize(txBuf, 7)
# rxBuf = self.__unsynchronize(txBuf, 7)
if (rxBuf is False):
return (False,False)
reStatus = rxBuf[2]
rePos = B3mClass.__assemblyByte(rxBuf[4:6])
rePos = B3mClass.__unsignedToSigned(rePos, 2)
return rePos, reStatus
else: #マルチモード
rxBuf = self.__synchronize(txBuf, 0)
if (rxBuf is False):
return (False,False)
return (True,True)
#非コマンド>>>
## モードを設定
# @param id(int) = サーボID
# @param mode(str) = モード
def setMode(self, id, mode, option="ERROR"):
address = 0x28
if not mode in {"POSITION", "SPEED", "VELOCITY", "CURRENT", "TORQUE", "FEEDFORWARD", "NORMAL", "FREE", "HOLD"}:
return False
if mode == "NORMAL":
data = 0b0000
elif mode == "FREE":
data = 0b0010
elif mode == "HOLD":
data = 0b0011
else:
re = self.setMode(id, "HOLD")
if re is False:
return False
if mode == "POSITION": #以下は"NORMAL"も同時に書き込んでいる
data = 0b0000
elif mode == "SPEED" or mode == "VELOCITY":
data = 0b0100
elif mode == "CURRENT" or mode == "TORQUE":
data = 0b1000
elif mode == "FEEDFORWARD":
data = 0b1100
if type(id) is not list: #シングルモード
rxBuf = self.writeCmd(id, address, data, option)
elif len(id)==1: #シングルモード
rxBuf = self.writeCmd(id[0], address, data[0], option)
else: #マルチモード
rxBuf = self.writeCmd([id]*len(id), address, [[data]*len(id)], option)
return rxBuf
def setTrajectoryType(self, id, _type, option="ERROR"):
address = 0x29
if _type == "NORMAL":
data = 0
elif _type == "EVEN":
data = 1
elif _type == "THIRDPOLY":
data = 3
elif _type == "FORTHPOLY":
data = 4
elif _type == "FIFTHPOLY":
data = 5
else:
return False
if type(id) is not list: #シングルモード
rxBuf = self.writeCmd(id, address, data, option)
elif len(id)==1: #シングルモード
rxBuf = self.writeCmd(id[0], address, data[0], option)
else: #マルチモード
rxBuf = self.writeCmd([id]*len(id), address, [[data]*len(id)], option)
return rxBuf #Status
def setRam(self, id, data, property, option="ERROR"):
if B3mClass.__checkRange(data, self.MEMORY_MAP[property][3] , self.MEMORY_MAP[property][2]) is False:
print "data range error"
return False, False
address = self.MEMORY_MAP[property][0]
if self.MEMORY_MAP[property][1] == "char":
data = B3mClass.__signedToUnsigned(data, 1) #符号付き→符号なしに変換
txData = B3mClass.__disassemblyByte(data, 1) #数値を1byteづつのリストに変換
elif self.MEMORY_MAP[property][1] == "byte":
txData = B3mClass.__disassemblyByte(data, 1)
elif self.MEMORY_MAP[property][1] == "short":
data = B3mClass.__signedToUnsigned(data, 2)
txData = B3mClass.__disassemblyByte(data, 2)
elif self.MEMORY_MAP[property][1] == "ushort":
txData = B3mClass.__disassemblyByte(data, 2)
elif self.MEMORY_MAP[property][1] == "long":
data = B3mClass.__signedToUnsigned(data, 4)
txData = B3mClass.__disassemblyByte(data, 4)
elif self.MEMORY_MAP[property][1] == "ulong":
txData = B3mClass.__disassemblyByte(data, 4)
(Success, reStatus) = self.writeCmd(id, address, txData, option)
return (Success, reStatus)
def getRam(self, id, property, option="ERROR"):
address = self.MEMORY_MAP[property][0]
if self.MEMORY_MAP[property][1] == "char":
(rxRam, reStatus) = self.readCmd(id, address, 1, option)
reData = B3mClass.__assemblyByte( rxRam ) #char（長さ１）では、要素取り出すだけ
reData = B3mClass.__unsignedToSigned(reData, 1)
elif self.MEMORY_MAP[property][1] == "byte":
(rxRam, reStatus) = self.readCmd(id, address, 1, option)
reData = rxRam[0]
elif self.MEMORY_MAP[property][1] == "short":
(rxRam, reStatus) = self.readCmd(id, address, 2, option)
reData = B3mClass.__assemblyByte( rxRam )
reData = B3mClass.__unsignedToSigned(reData, 2)
elif self.MEMORY_MAP[property][1] == "ushort":
(rxRam, reStatus) = self.readCmd(id, address, 2, option)
reData = B3mClass.__assemblyByte( rxRam )
elif self.MEMORY_MAP[property][1] == "long":
(rxRam, reStatus) = self.readCmd(id, address, 4, option) #書き込み
reData = B3mClass.__assemblyByte( rxRam ) #返り値(1byteづつのリスト)を結合して1つの値に変換
reData = B3mClass.__unsignedToSigned(reData, 4) #符号なし→符号付きに変換
elif self.MEMORY_MAP[property][1] == "ulong":
(rxRam, reStatus) = self.readCmd(id, address, 4, option)
reData = B3mClass.__assemblyByte( rxRam )
return reData, reStatus
def setNewId(self, currentId, newId):
re1 = self.loadCmd(currentId)
re2 = self.setRam(currentId, newId, "ID")
re3 = self.saveCmd(newId)
return ( re1[0]==True and re2[0]==True and re3[0]==True )
def getError(self, id):
(systemError, motorError) = self.getRam(id, "StatusSystem", "MOTOR")
(uartError, commandError) = self.getRam(id, "StatusUart", "COMMAND")
(statusError, clearError) = self.getRam(id, "StatusError", "CLEAR")
if systemError & 0b00000001:
print "Watchdog Timerが起動したときに1になります"
if systemError & 0b00000010:
print "MCUのROMに保存されているデータに何らかの不都合があった場合に1になります。"
if systemError & 0b00000100:
print "メモリーに何らかの不具合があり、RAM割り当てに失敗したときに1になります。起動時に1度だけチェックします。"
if systemError & 0b00001000:
print "入力電圧が上限値を超えたか、下限値を下回った場合に1になります"
if systemError & 0b00010000:
print "MCU温度が上限値を超えた場合に1になります"
if systemError & 0b00100000:
print "AD変換に失敗したときに1になります"
if systemError & 0b01000000:
print "I2C通信に失敗したときに1になります（未使用）"
if systemError & 0b10000000:
print "SPI通信に失敗したときに1になります"
if motorError & 0b00000001:
print "モーター温度が上限値を超えた場合に1になります"
if motorError & 0b00000010:
print "モーターロックが検知された場合に1になります"
if motorError & 0b0000100:
print "モーターに流れる電流が上限値を超えた場合に1になります"
if motorError & 0b00001000:
print "ブラシレスモーターのホールICに不具合があった場合に1になります"
if uartError & 0b00000001:
print "フレミングエラー発生時に1になります"
if uartError & 0b00000001:
print "パリティエラー発生時に1になります"
if uartError & 0b00000001:
print "ブレークエラー発生時に1になります"
if uartError & 0b00000001:
print "オーバーランエラー発生時に1になります"
if commandError & 0b00000001:
print "コマンドのチェックサムが間違っている場合に1になります"
if commandError & 0b00000010:
print "コマンドのデバイス数が多すぎるあるいは少なすぎる場合に1になります"
if commandError & 0b00000100:
print "取得するデータ長さがアドレスを越えるほど長い場合に1になります"
if commandError & 0b00001000:
print "アドレスが指定範囲外だった場合に1になります"
if commandError & 0b00001000:
print "コマンド自身が間違っている場合に1になります"
# aaa=B3mClass("/dev/ttyUSB0", 1500000)
# aaa.begin()
# print "free"
# print aaa.setMode(0,"FREE")
# print "nomal mode"
# print aaa.setMode(0,"NORMAL")
# print "pos"
# print aaa.positionCmd(0,0)
# import time
# time.sleep(2)
# print aaa.positionCmd(0,20000)
# time.sleep(2)
"""
#終了時間制御をする例
print aaa.setTrajectoryType(0,"EVEN")
print aaa.setMode(0,"POSITION")
print aaa.positionCmd(0,32000, 10000)
"""
"""
#トルクを設定する例
print aaa.setMode(0,"TORQUE")
print aaa.setRam(0,100,"DesiredTorque")
"""