def start(main_controller_connection):
signal.signal(signal.SIGTERM, signal_handler)
logger.info("Starting drive_controller")
# Motor drivers
ipcon.connect('localhost', 4223)
time.sleep(1.0)
right_wheel = BrickDC('6wUYf6', ipcon)
right_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
right_wheel.set_acceleration(60000)
right_wheel.set_velocity(0)
right_wheel.disable_status_led()
right_wheel.enable()
left_wheel = BrickDC('62gBJZ', ipcon)
left_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
left_wheel.set_acceleration(60000)
left_wheel.set_velocity(0)
left_wheel.disable_status_led()
left_wheel.enable()
cutter = BrickDC('6e68bZ', ipcon)
cutter.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
cutter.set_acceleration(10000)
cutter.set_velocity(0)
cutter.disable_status_led()
cutter.enable()
while True:
if main_controller_connection.poll():
cmd = main_controller_connection.recv()
logger.info("Execute external command {}".format(str(cmd)))
execute_command(cmd, right_wheel, left_wheel, cutter)
time.sleep(0.01)
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your DC Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_drive_mode(dc.DRIVE_MODE_DRIVE_COAST)
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
dc.enable() # Enable motor power
raw_input("Press key to exit\n") # Use input() in Python 3
dc.disable() # Disable motor power
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_drive_mode(1) # Use 1 = Drive/Coast instead of 0 = Drive/Brake
dc.enable()
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
raw_input('Press key to exit\n') # Use input() in Python 3
dc.disable()
ipcon.disconnect()
stepper = BrickStepper(UIDstepper, ipcon)
joystick = BrickletJoystick(UIDjoystick, ipcon)
irsensor = BrickletDistanceIR(UIDirsensor, ipcon)
ipcon.connect(HOST, PORT)
print("Verbindung unter folgenden Daten: \nIP: " + HOST + "\nPort: " +
PORT)
o_clear()
print("Einstellungen werden gesetzt")
o_write(1, 5, "Einstellungen")
o_write(1, 5, "werden gesetzt")
ctrl_hz_fan = 5000
dcb.set_pwm_frequency(5000)
dcb.set_acceleration(5000)
ctrl_velostepper = 3000
ctrl_accstepper = 1000
stepper.set_step_mode(8)
stepper.set_motor_current(1000)
stepper.set_max_velocity(3000)
stepper.set_speed_ramping(1000, 50000)
stepper.set_current_position(0)
time.sleep(1)
o_clear()
print("Callbacks werden registriert")
o_write(1, 5, "Callbacks")
o_write(1, 3, "werden registriert")