def wheel_com_init():
global Device1, Device2
Device1 = BLEDevice("DD:43:89:16:43:81") #right wheel
Device2 = BLEDevice("F4:82:B3:50:ED:55") #left wheel
Device1.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device1.notify()
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device2.notify()
Device1.writereq(0xd, '544443790D0A') #FRONT
Device1.notify()
Device2.writereq(0xd, '544443790D0A') #FRONT
Device2.notify()
desired_speed1(10)
desired_speed2(10)
time.sleep(2)
desired_speed1(0)
desired_speed2(0)
global state
state = STOP
import sys, time
import threading
import keyboard
import numpy as np
from bledevice import scanble, BLEDevice
Device1 = BLEDevice("DD:43:89:16:43:81")
Device2 = BLEDevice("F4:82:B3:50:ED:55")
Device1.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device1.notify()
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device2.notify()
Device1.writereq(0xd, '544443790D0A') #FRONT
Device1.notify()
Device2.writereq(0xd, '544443790D0A') #FRONT
Device2.notify()
desired = 0
flag = 1
now_velocity1 = 0
now_velocity2 = 0
STOP = 0
IDLE = 1
FWD = 2
LEFT = 3
RIGHT = 4
ROTATE = 6
direction1 = 1
direction2 = 1
def connect(self):
global bulb
bulb = BLEDevice(self.bl.get())
time.sleep(0.1)
bulb.writereq(bulb.getvaluehandle(WRITE_CHAR_UUID), COMMAND_STX+AUTH_CMD+AUTH_ON+COMMAND_ETX*15)
import sys, time
import threading
import keyboard
import numpy as np
from bledevice import scanble, BLEDevice
Device1 = BLEDevice("DD:43:89:16:43:81")
Device2 = BLEDevice("F4:82:B3:50:ED:55")
Device1.writereq(0xd, '545246680D0A') #STOP_flag
Device2.writereq(0xd, '545246680D0A') #STOP_flag
Device1.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
Device1.writereq(0xd, '544443790D0A') #CW forward
Device2.writereq(0xd, '544443790D0A') #CW forward
Device1.writereq(0xd, '54571E8B0D0A') #5km/h
Device2.writereq(0xd, '54571E8B0D0A') #5km/h
t = 0
toggle = 1
while 1:
if t > 1:
if toggle == 1:
Device1.writereq(0xd, '544457650D0A') #CCW backward
Device2.writereq(0xd, '544457650D0A') #CCW backward
time.sleep(2)
else:
Device1.writereq(0xd, '544443790D0A') #CCW forward
def connect(self):
global bulb
bulb = BLEDevice(self.bl.get())
time.sleep(0.1)
bulb.writereq(bulb.getvaluehandle(WRITE_CHAR_UUID),
COMMAND_STX + AUTH_CMD + AUTH_ON + COMMAND_ETX * 15)
def fSLOWER(Device1, Device2):
Device1.writereq(0xd, '546464380D0A') #Spd_Down
Device2.writereq(0xd, '546464380D0A') #Spd_Down
def M_FWD_RIGHT(Device1, Device2):
print("\nM_FWD_RIGHT")
def M_FWD_LEFT(Device1, Device2):
print("\nM_FWD_LEFT")
#vh=Device1.getvaluehandle(b"0000ffe1")
Device1.writereq(0xd, '54524F5F0D0A')
Device2.writereq(0xd, '54524F5F0D0A')
time.sleep(0.5)
sum_time = 0
mean_time = 0
count = 0
while True:
count = count + 1
start = time.time()
data = Device1.notify()
sum_time = sum_time + time.time() - start
mean_time = sum_time / count
print(
"time :",
time.time() - start,
"mean_time : ",
import sys, time
import threading
import keyboard
import numpy as np
from bledevice import scanble, BLEDevice
Device2 = BLEDevice("F4:82:B3:50:ED:55")
Device2.writereq(0xd, '54524F5F0D0A') #RUN_flag
desired = 0
flag = 1
now_velocity = 0
def M_FWD():
global now_velocity
if now_velocity < 16:
now_velocity = 16
now_velocity = now_velocity + 1
return now_velocity
def M_BWD():
global now_velocity
if now_velocity < 16:
now_velocity = 16
now_velocity = now_velocity - 1
return now_velocity
def M_STOP():