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.")