IAI RCON Controller using Modbus RTU with Python

This project provides a Python script to control an IAI RCON controller using the Modbus RTU protocol. It leverages the minimalmodbus library for easy Modbus communication. The script includes functionalities to connect to the controller, reset alarms, turn the servo on, perform homing, and move to specified position numbers.

Features

• Connect to the IAI RCON controller via Modbus RTU.
• Reset alarms.
• Turn the servo on.
• Perform homing operation.
• Move to specified position numbers.
• Continuously move between two positions until the 'q' key is pressed.

Requirements

• Python 3.x
• minimalmodbus library
• pyserial library
• keyboard library

Installation

1. Clone this repository:

   git clone https://github.com/yourusername/iai-rcon-controller.git
   cd iai-rcon-controller

2. Install the required libraries:

   pip install minimalmodbus pyserial keyboard

Usage

1. Connect the IAI RCON controller to your computer.

2. Ensure the serial port and slave address in the script match your setup.

3. Run the script:

   python iai_rcon_controller.py

4. The script will:

   • Connect to the RCON controller.
   • Reset alarms.
   • Turn the servo on.
   • Perform homing.
   • Move between position numbers 2 and 1 in a loop.
   • Stop the loop when the 'q' key is pressed.

Code Explanation

The script is organized into a class RCONController which encapsulates all the functionality needed to control the IAI RCON controller. Below is an overview of the methods:

• __init__(self, port, slave_address): Initializes the controller with the specified serial port and slave address.
• connect(self): Establishes the Modbus connection with the specified parameters.
• check_connection(self): Checks the connection by reading a register.
• reset_alarm(self): Resets alarms by writing to a specific register.
• servo_on(self): Turns the servo on by writing to a specific register.
• home(self): Performs a homing operation.
• is_home_complete(self, dss1_register): Checks if the homing operation is complete by reading a register.
• move_to_position_number(self, position_number): Moves to a specified position number and waits for the move to complete.

The main loop continuously moves between position numbers 2 and 1 until the 'q' key is pressed.

License

This project is licensed under the MIT License.

Contributing

Contributions are welcome! Please fork this repository and submit a pull request with your improvements.

Contact

For any questions or feedback, please open an issue or contact seonghun.choe.