def test_ptu():
ptu = PTU("10.5.1.2", 4000)
ptu.connect()
print(1)
ptu.slew_to_angle((0, 0))
print(2)
print(ptu.get_angle())
time.sleep(3)
print(3)
ptu.slew_to_angle((10, 10))
print(4)
print(ptu.get_angle())
ki = 1.2 * Ku / Tu
kd = 3 * Ku * Tu / 40
elif mode == "noovershoot":
print("No Over Shoot")
# No overshoot
kp = Ku / 5
ki = (2 / 5) * Ku / Tu
kd = Ku * Tu / 15
else:
print("invaild mdoe")
print("kp: ", kp, "ki: ", ki, "kd: ", kd)
return [kp, ki, kd]
x = PTU("192.168.1.110", 4000, debug=False)
x.connect()
# x.reset()
# x.wait()
x.set_speed_mode()
x.wait()
# set upper speed limit
x.pan_speed_max(11448)
x.wait()
# # read accel
# x.pan_accel()
# x.wait()
#!/usr/bin/env python3
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
from vision_utils.timing import get_timestamp
import time
logger = get_logger()
x = PTU("192.168.0.110", 4000, debug=False)
x.connect()
# reset PTU
# x.reset()
# x.wait()
# set upper speed limit
while (True):
logger.debug(f"{get_timestamp()} pan: {x.pan()}")
x.wait()
logger.debug(f"{get_timestamp()} tilt: {x.tilt()}")
x.wait()
time.sleep(1)
x.stream.close()
#!/usr/bin/env python3
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
import time
logger = get_logger()
x = PTU("192.168.1.110", 4000, debug=False)
x.stream.close()
x.connect()
# reset PTU
x.reset()
x.wait()
import numpy as np
# set upper speed limit
x.pan_speed_max(16000)
x.wait()
import rospy
from sensor_msgs.msg import JointState
joint_msg = JointState()
joint_msg.name = ["ptu_panner", "ptu_tilter"]
rospy.init_node("ptu_joint_states_node")
pub = rospy.Publisher('joint_states', JointState, queue_size=1)
#!/usr/bin/env python3
import numpy as np
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
import time
logger = get_logger()
x = PTU("192.168.1.110", 4000, debug=False)
x.connect()
# x.reset()
# x.wait()
# set upper speed limit
x.pan_speed_max(16000)
x.wait()
# read accel
x.pan_accel()
x.wait()
# x.tilt_speed()
# x.tilt_speed(2000)
# x.wait()
# x.pan_speed()
# x.pan_speed(2000)
# x.wait()
# x.set_speed_mode()
# x.wait()
#!/usr/bin/env python3
import numpy as np
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
import time
logger = get_logger()
x = PTU("192.168.1.110", 4000, debug=False)
x.connect()
# x.reset()
# x.wait()
# set upper speed limit
x.pan_speed_max(11000)
x.wait()
x.set_position_mode()
x.pan_speed(2000)
x.wait()
x.tilt_speed(2000)
x.wait()
position = [0.0, 0.0]
angle = 200
tilt_angle = 200
#!/usr/bin/env python3
import rospy
from std_msgs.msg import Float32
from sensor_msgs.msg import JointState
from simple_pid import PID
import numpy as np
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
import time
logger = get_logger()
x = PTU("192.168.1.110", 4000, debug=False)
x.connect()
x.reset()
x.wait()
# set upper speed limit
x.pan_speed_max(16000)
x.wait()
# read accel
x.pan_accel()
x.wait()
x.set_speed_mode()
x.wait()
def tune_gain(Ku, Tu, mode="clasic"):
if mode == "clasic":
from flir_ptu.ptu import PTU
import logging
logger = logging.getLogger()
handler = logging.StreamHandler()
formatter = logging.Formatter('%(levelname)s:%(name)s:- %(message)s')
handler.setFormatter(formatter)
logger.addHandler(handler)
logger.setLevel(logging.DEBUG)
x = PTU("129.219.136.149", 4000)
x.connect()
value = 3
if value == 1:
x.pan(25)
print(x.pan())
elif value == 2:
x.pan_angle(45)
print(x.pan())
elif value == 3:
x.pan_offset(-10)
print("XX", x.pan())
x.stream.close()
#!/usr/bin/env python3
from flir_ptu.ptu import PTU
from vision_utils.logger import get_logger
import time
logger = get_logger()
x = PTU("192.168.1.110", 4000, debug=False)
x.connect()
# reset PTU
x.reset()
x.wait()
# having fun with sines
import numpy as np
sin = np.arcsin(np.arange(-1,1.0,0.01)) * 180/np.pi
sin_inv = np.arcsin(np.arange(1.0,-1,0.01)) * 180/np.pi
# set upper speed limit
x.pan_speed_max(11000)
x.wait()
x.set_position_mode()
x.wait()
x.pan_speed(1000)
x.wait()
x.tilt_speed(1000)
x.wait()