def test_pwm_output(self):
min = 10000
max = 20000
zero = (min + max)/2.0
period = 100000
p = Pwm("PWM99A", min, max, period) # Use round numbers to make things easier
speed = p.set_speed(0)
self.assertEqual(speed, zero)
self.assertEqual(zero, float(open(self.PWM99A_dir + Pwm.DUTY).read()))
speed = p.set_speed(0.5)
self.assertEqual(speed, (max+zero)/2.0)
self.assertEqual((max+zero)/2.0, float(open(self.PWM99A_dir + Pwm.DUTY).read()))
speed = p.set_speed(-1.0)
self.assertEqual(speed, min)
self.assertEqual(min, float(open(self.PWM99A_dir + Pwm.DUTY).read()))
speed = p.set_speed(1.0)
self.assertEqual(speed, max)
self.assertEqual(max, float(open(self.PWM99A_dir + Pwm.DUTY).read()))
from robot import Robot
from commands import Commands
from input import Input
from pwm import Pwm
import os
def main():
pid = str(os.getpid())
file("/var/run/rotacaster.pid", "w").write(pid)
robot = Robot()
input = Input(robot)
commands = Commands(robot, input)
# keep the daemonising threads alive
while True:
pass
if __name__ == "__main__":
try:
main()
except Exception as e:
print e
pa = Pwm(Robot.MOTOR_A_PWM)
pb = Pwm(Robot.MOTOR_B_PWM)
pc = Pwm(Robot.MOTOR_C_PWM)
pa.set_speed(0.0)
pb.set_speed(0.0)
pc.set_speed(0.0)
print "Exception Thrown, all motors stopped"
