def __init__(self):
print("Starting motors...")
self.m = thrusters.start(N_motors, port)
self.stopAll()
print("Starting thread...")
thread = threading.Thread(target=self.motor_feedback_thread, args=(self.m,))
thread.daemon = True
thread.start()
return
# Copyright (C) 2017 SeaDroneTM (www.seadronepro.com)
# This program is free software; you can redistribute it
# and/or modify it under the terms of the GNU General Public
# License v3 as published by the Free Software Foundation.
###############################################################
import seadrone.smart_thruster as thrusters
import threading
import time
import math
N_motors = 15
port = '/dev/ttyUSB0'
print("Starting motors...")
m = thrusters.start(N_motors, port)
def motor_feedback_thread(m):
while m.running:
print("\n\n\n\n") # empty lines for space
for id in m.motors: # show feedback for each motor
motor_feedback = 'Motor {:2d}: '.format(id)
motor_feedback += "ON " if m.is_on[id] else "OFF "
motor_feedback += '{:5d}rpm '.format(m.rpm[id])
motor_feedback += '{:5.2f}A '.format(m.current[id])
motor_feedback += '{:5.2f}V '.format(m.voltage[id])
motor_feedback += '{:5.2f}C '.format(m.driver_temperature[id])
motor_feedback += 'Alarm: ' + m.get_alarm_description(id)
print(motor_feedback)
if m.has_alarm[id]: