def iq_module(self, hardware_type, usb_handle):
hardware_types = {
"step_dir": iq.StepDirModule,
}
if hardware_type not in hardware_types.keys():
print("THIS TYPE IS NOT HANDLED IN TEST SPEED")
sys.exit()
com = iq.SerialCommunicator(usb_handle)
iq_module = hardware_types[hardware_type](com, 0)
return iq_module
def iq_module(self, hardware_type, usb_handle):
hardware_types = {
"speed": iq.SpeedModule,
}
if hardware_type not in hardware_types.keys():
print("THIS TYPE IS NOT HANDLED IN TEST SPEED")
sys.exit()
com = iq.SerialCommunicator(usb_handle)
iq_module = hardware_types[hardware_type](com, 0)
# timeout for speed modules
if hardware_type == "speed":
iq_module.set("propeller_motor_control", "timeout", 10)
return iq_module
import iqmotion as iq
import time
if __name__ == "__main__":
com = iq.SerialCommunicator("/dev/ttyUSB0")
iq_module = iq.SpeedModule(com, 0)
MAX_SPEED = 50
SPEED_STEP = 1
velocity_to_set = 0
velocity_sign = 1
while True:
# Update velocity direction
if abs(velocity_to_set) >= MAX_SPEED:
velocity_sign *= -1
# Increase velocity
velocity_to_set += SPEED_STEP * velocity_sign
iq_module.set("propeller_motor_control", "ctrl_velocity", velocity_to_set)
# Limit acceleration at a constant rate
time.sleep(0.2)