def signal_lost():
receive_mode="NO_SIGNAL"
for chan in range(0,NUM_PWM):
cellpilot_usart.set_pwm(chan,0)
#!/usr/bin/python # Copyright (c) 2015 Netforce Co. Ltd. # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. # IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, # DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR # OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE # OR OTHER DEALINGS IN THE SOFTWARE. import sys import cellpilot_usart chan=int(sys.argv[1]) dur=int(sys.argv[2]) cellpilot_usart.set_pwm(chan,dur)
else:
delay=None
if delay<0 or delay>1000:
raise Exception("Invalid delay")
if len(args)>3:
next_pwm=int(args[3])
if next_pwm<0 or next_pwm>2000:
raise Exception("Invalid next PWM value")
else:
next_pwm=None
if delay and next_pwm is None:
raise Exception("Missing next PWM value")
for chan,pwm,delay,next_pwm in actions:
if chan in delay_pwms:
continue
cellpilot_usart.set_pwm(chan,pwm)
if delay:
delay_pwms[chan]=(val,t+delay,next_pwm)
if last_cmd_t and t-last_cmd_t>NO_SIGNAL_DELAY and receive_mode!="NO_SIGNAL":
signal_lost()
dels=[]
for chan,(pwm,sched_t,next_pwm) in delay_pwms.items():
if t>=sched_t:
cellpilot_usart.set_pwm(chan,next_pwm)
dels.append(chan)
for chan in dels:
del delay_pwms[chan]
next_t=(t+20)*0.001
t1=time.time()
sleep_t=next_t-t1
if sleep_t>0:
#!/usr/bin/python # Copyright (c) 2015 Netforce Co. Ltd. # # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. # # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, # EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF # MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. # IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, # DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR # OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE # OR OTHER DEALINGS IN THE SOFTWARE. import sys import cellpilot_usart chan = int(sys.argv[1]) dur = int(sys.argv[2]) cellpilot_usart.set_pwm(chan, dur)
