test_fh_2214_bxth.py

#!/usr/local/python3

import logging

from being.awakening import awake
from being.backends import CanBackend
from being.behavior import Behavior
from being.constants import FORWARD, BACKWARD, TAU
from being.logging import setup_logging, suppress_other_loggers
from being.motion_player import MotionPlayer
from being.motors import RotaryMotor
from being.resources import register_resource, manage_resources

log_level = logging.INFO
logging.basicConfig(level=log_level)
setup_logging(level=log_level)
suppress_other_loggers()

with manage_resources():
    network = CanBackend.single_instance_setdefault()
    register_resource(network, duplicates=False)

    mot0 = RotaryMotor(
        nodeId=11,
        motor='2214',
        length=TAU/2,
        direction=FORWARD,
        homingMethod=33,
        usePositionController=True,
        settings={}
    )

    behavior = Behavior.from_config('behavior.json')
    mp = MotionPlayer(ndim=1)

    behavior | mp

    mp.positionOutputs[0].connect(mot0.input)

    awake(behavior, usePacemaker=True, homeMotors=True, web=True)