def main(motors_id: tuple):
ser.write(protocol.generate_set_pid_mode(protocol.PIDStatus.OFF))
ser.read()
for motorx in protocol.Motors:
ser.write(
protocol.generate_manual_speed_command(
motorx, 1, protocol.MotorsDirection.FORWARD))
consigne = []
retroaction = []
if ROTATION_TEST == True:
rotation_test(motors_id, consigne, retroaction)
else:
direction_test(motors_id, consigne, retroaction)
ser.write(protocol.generate_set_pid_mode(protocol.PIDStatus.ON))
for motorx in protocol.Motors:
ser.write(
protocol.generate_manual_speed_command(
motorx, 1, protocol.MotorsDirection.FORWARD))
with open(fname + '.csv', 'w') as f:
writer = csv.writer(f, delimiter=',')
writer.writerow(consigne)
writer.writerow(retroaction)
print("Finish")
def set_motor_to_keyboard_speed(speed_x, speed_y):
x_motors = (protocol.Motors.FRONT_X, protocol.Motors.REAR_X)
y_motors = (protocol.Motors.FRONT_Y, protocol.Motors.REAR_Y)
for motor_id in x_motors:
ser.write(protocol.generate_manual_speed_command(motor_id, speed_x))
for motor_id in y_motors:
ser.write(protocol.generate_manual_speed_command(motor_id, speed_y))
def set_consigne(cmd, companion_id, companion_direction, main_id,
main_direction):
ser.write(
protocol.generate_manual_speed_command(main_id, cmd, main_direction))
ser.read(2)
ser.write(
protocol.generate_manual_speed_command(companion_id, COMPANION_COMMAND,
companion_direction))
ser.read(2)
def main():
ser.write(protocol.generate_set_pid_mode(protocol.PIDStatus.OFF))
ser.read(1)
motorx = protocol.Motors.FRONT_X
pwm = 50
motor_dir = protocol.MotorsDirection.FORWARD
ser.write(protocol.generate_manual_speed_command(motorx, pwm, motor_dir))
print_code(HEADER_W, ser)
print_code(PAYLOAD_W, ser)
ser.write(protocol.generate_set_pid_mode(protocol.PIDStatus.OFF))
ser.read(ser.in_waiting())
def update_all_motor_cmd(speed, direction):
for motor_id in protocol.Motors:
ser.write(
protocol.generate_manual_speed_command(motor_id, speed, direction))
time.sleep(DEFAULT_COMM_SLEEP)
def all_motors(screen):
ser.read(ser.inWaiting())
screen.clear()
screen.addstr("Vitesse: ")
screen.nodelay(False)
curses.echo()
try:
speed = int(screen.getstr(3))
except ValueError:
speed = DEFAULT_SPEED
screen.addstr(1, 0, "Direction (f|b): ")
try:
dir_key = screen.getkey()
direction = directions[dir_key]
except KeyError:
direction = DEFAULT_DIRECTION
screen.nodelay(True)
curses.noecho()
screen.clear()
for motor_id in protocol.Motors:
ser.write(
protocol.generate_manual_speed_command(motor_id, speed, direction))
ser.read(1)
time.sleep(DEFAULT_COMM_SLEEP)
sub_run = True
while sub_run:
try:
user_key = screen.getkey()
except curses.error:
user_key = -1
draw_all_motor_menu(direction, screen, speed)
if user_key in ['q', 'Q', 'c', 'C']:
sub_run = False
elif user_key == 's':
screen.nodelay(False)
curses.echo()
screen.clear()
try:
speed = int(screen.getstr(3))
except ValueError:
pass
screen.nodelay(True)
curses.noecho()
update_all_motor_cmd(speed, direction)
draw_all_motor_menu(direction, screen, speed)
elif user_key == 'd':
screen.nodelay(False)
curses.echo()
screen.clear()
try:
dir_key = screen.getkey()
direction = directions[dir_key]
except KeyError:
pass
screen.nodelay(True)
curses.noecho()
update_all_motor_cmd(speed, direction)
draw_all_motor_menu(direction, screen, speed)
for motor_id in protocol.Motors:
ser.write(
protocol.generate_manual_speed_command(motor_id, 0, direction))
time.sleep(DEFAULT_COMM_SLEEP)
return None
def motor(screen):
global directions
screen.nodelay(False)
screen.clear()
curses.echo()
screen.addstr("ID du moteur [1-4]: ")
motor_id = int(screen.getkey())
motor_id = motors_id[motor_id]
screen.addstr(1, 0, "Vitesse du moteur [0-100]: ")
try:
speed = int(screen.getstr(3))
except ValueError:
speed = DEFAULT_SPEED
screen.addstr(2, 0, "Direction [f|b]: ")
try:
dir_key = screen.getkey()
direction = directions[dir_key]
except KeyError:
direction = DEFAULT_DIRECTION
curses.noecho()
screen.clear()
screen.nodelay(True)
ser.write(
protocol.generate_manual_speed_command(motor_id, speed, direction))
sub_run = True
while sub_run:
ser.read(ser.inWaiting())
time.sleep(0.050)
screen.clear()
motor_speed = read_encoder(motor_id, ser)
draw_motor_menu(direction, motor_speed, screen, speed)
try:
user_key = screen.getkey()
except curses.error:
user_key = -1
if user_key in ['c', 'C', 'q', 'Q']:
sub_run = False
elif user_key in ['s', 'S']:
screen.nodelay(False)
screen.clear()
curses.echo()
try:
screen.move(0, 0)
speed = int(screen.getstr(3))
except ValueError:
screen.addstr(4, 0, "La vitesse doit etre un nombre valide.")
curses.noecho()
screen.nodelay(True)
elif user_key in ['d', 'D']:
screen.nodelay(False)
screen.clear()
curses.echo()
try:
screen.move(0, 0)
dir_key = screen.getkey()
direction = directions[dir_key]
except KeyError:
screen.addstr(4, 0,
"La direction doit etre soit 'c' ou soit 'cc'.")
curses.noecho()
screen.nodelay(True)
ser.write(protocol.generate_manual_speed_command(motor_id, 0, direction))
return None