def main():
motors = Sensorimotor(number_of_motors=2, verbose=False)
try:
# Check for motors
N = motors.ping()
print("Found {0} motors.".format(N))
sleep(1.0)
#TODO: set this according to your supply voltage and desired max. motor speed
motors.set_voltage_limit([0.25, 0.18])
# Start motors
motors.start()
#TODO: set this parameters according to your desired motor positon control behaviour
motors.set_pos_ctrl_params(0,
Kp=2.3,
Ki=0.4,
Kd=0.1,
deadband=0.1,
pulse_threshold=0.1)
motors.set_pos_ctrl_params(1,
Kp=0.4,
Ki=0.2,
Kd=0.01,
deadband=0.1,
pulse_threshold=0.1)
# Set the motor position
motors.set_position([0.6, 0])
sleep(1.5)
# Print the current position
print_position(motors.get_position())
# Set the motor position
motors.set_position([-0.6, 0])
sleep(1.5)
# Print the current position
print_position(motors.get_position())
motors.stop()
except (KeyboardInterrupt, SystemExit):
# Stop motors
print("\rAborted, stopping motors")
motors.stop()
except:
# Script crashed?
print("\rException thrown, stopping motors")
motors.stop()
print("____\nDONE.")
def main():
motors = Sensorimotor(number_of_motors=2, verbose=False)
try:
# Check for motors
N = motors.ping()
print("Found {0} motors.".format(N))
sleep(1.0)
#TODO: set the supply voltage limit
motors.set_voltage_limit([0.11, 0.11])
# Start motors
motors.start()
motors.set_pos_ctrl_params(0,
Kp=1.8,
Ki=0.2,
Kd=0.1,
deadband=0.1,
pulse_threshold=0.1)
motors.set_pos_ctrl_params(1,
Kp=1.8,
Ki=0.2,
Kd=0.1,
deadband=0.1,
pulse_threshold=0.1)
motors.set_position([0.5, 0.5])
sleep(1.5)
# Print the current position
print_position(motors.get_position())
motors.set_position([-0.5, -0.5])
sleep(1.5)
# Print the current position
print_position(motors.get_position())
motors.stop()
except (KeyboardInterrupt, SystemExit):
# Stop motors
print("\rAborted, stopping motors")
motors.stop()
except:
# Script crashed?
print("\rException thrown, stopping motors")
motors.stop()
print("____\nDONE.")
def main():
motors = Sensorimotor(number_of_motors=2, verbose=False)
try:
# checking for motors
N = motors.ping()
print("Found {0} motors.".format(N))
sleep(1.0)
#TODO: set this according to your supply voltage and desired max. motor speed
motors.set_voltage_limit([0.18, 0.18])
# starting motorcord
motors.start()
#TODO: set this parameters according to your desired motor positon control behaviour
motors.set_pos_ctrl_params(0,
Kp=0.9,
Ki=0.0,
Kd=0.05,
deadband=0.0,
pulse_threshold=0.1)
motors.set_pos_ctrl_params(1,
Kp=0.9,
Ki=0.0,
Kd=0.05,
deadband=0.0,
pulse_threshold=0.1)
while (True):
print_position(motors.get_position())
sleep(0.2)
#prints the current position
motors.stop()
except (KeyboardInterrupt, SystemExit):
# stopping motor cord
print("\rAborted, stopping motors")
motors.stop()
except:
# Script crashed?
print("\rException thrown, stopping motors")
motors.stop()
raise
print("____\nDONE.")
def main():
motors = Sensorimotor(number_of_motors=2, verbose=False)
try:
# Check for motors
N = motors.ping()
print("Found {0} motors.".format(N))
sleep(1.0)
#voltage limit for supply voltage and desired max. motor speed
motors.set_voltage_limit([0.16, 0.16])
# Start motors
motors.start()
#these parameters influences the desired motor positon control behaviour
motors.set_pos_ctrl_params(0,
Kp=1.2,
Ki=0.3,
Kd=0.1,
deadband=0,
pulse_threshold=0)
motors.set_pos_ctrl_params(1,
Kp=1.2,
Ki=0.3,
Kd=0.1,
deadband=0,
pulse_threshold=0)
motors.set_position([0.0, 0.0])
sleep(2)
# Print the current position
print_position(motors.get_position())
#TODO: set the position for the robot to move
motors.set_position([])
sleep(2)
# Print the current position
print_position(motors.get_position())
#TODO: set the position for the robot to move
motors.set_position([])
sleep(2)
# Print the current position
print_position(motors.get_position())
#TODO: set the position for the robot to move
motors.set_position([])
sleep(2)
# Print the current position
print_position(motors.get_position())
#TODO: set the position for the robot to move
motors.set_position([])
sleep(2)
# Print the current position
print_position(motors.get_position())
#TODO: set the position for the robot to move
motors.set_position([])
sleep(2)
# Print the current position
print_position(motors.get_position())
motors.stop()
except (KeyboardInterrupt, SystemExit):
# Stop motors
print("\rAborted, stopping motors")
motors.stop()
except:
# Script crashed?
print("\rException thrown, stopping motors")
motors.stop()
print("____\nDONE.")