def __init__(self): self.mA = ppi.Motor(ppi.AD_MOTOR_A) self.mB = ppi.Motor(ppi.AD_MOTOR_B) ppi.init()
parser.add_argument("-d", "--debug", help="show debug information", action="store_true") args = parser.parse_args() # Create a TCP/IP socket and bind the socket to the port sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) server_address = (IP_ADDRESS, PORT) print('Starting up on {0}, port {1}'.format(server_address[0], server_address[1]), file=sys.stderr) sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1) sock.bind(server_address) mA = ppi.Motor(ppi.AD_MOTOR_A) mB = ppi.Motor(ppi.AD_MOTOR_B) display = ppi.Display(ppi.AD_DISPLAY_A) #initialise serial, and retrieve initial values from the Atmega ppi.init() mA.get_all() mB.get_all() # Initialise loop variables connection = None client_address = None # initialize the heartbeat thread heartbeat_thread = threading.Thread(target=HeartBeat, daemon=True) heartbeat_thread.start()
import time import penguinPi as ppi ppi.uart.init() ppi.init() # Initialise L and R motors motorL = ppi.Motor(ppi.AD_MOTOR_A) motorR = ppi.Motor(ppi.AD_MOTOR_B) # Initialise Display display = ppi.Display(ppi.AD_DISPLAY_A) display.set_mode('u') # decimal mode ppi.init() def set_speed(motorL_speed, motorR_speed): motorL.set_power(motorL_speed) motorR.set_power(motorR_speed) display.set_value(motorL_speed + " " + motorR_speed) # Move forwards set_speed(50, 50) time.sleep(1) # 1s pause