def __init__(self, directions={}):
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
self.directions = directions
self.auto_mode = False
self._direction = None
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
self.zb.SetCommsFailsafe(True)
self.zb.ResetEpo()
def __init__(self, directions: Dict[str, List[float]] = None, **kwargs):
"""
:param directions: Configuration for the motor directions. A direction is basically a configuration of the
power delivered to each motor to allow whichever object you're controlling (wheels, robotic arms etc.) to
move in a certain direction. In my experience the ZeroBorg always needs a bit of calibration, depending on
factory defaults and the mechanical properties of the load it controls.
Example configuration that I use to control a simple 4WD robot::
directions = {
"up": [
0.4821428571428572, # Motor 1 power
0.4821428571428572, # Motor 2 power
-0.6707142857142858, # Motor 3 power
-0.6707142857142858 # Motor 4 power
],
"down": [
-0.4821428571428572,
-0.4821428571428572,
0.825,
0.825
],
"left": [
-0.1392857142857143,
-0.1392857142857143,
-1.0553571428571429,
-1.0553571428571429
],
"right": [
1.0017857142857143,
1.0017857142857143,
0.6214285714285713,
0.6214285714285713
]
}
"""
if directions is None:
directions = {}
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
super().__init__(**kwargs)
self.directions = directions
self._direction = None
self._drive_thread = None
self._motors = [0, 0, 0, 0]
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
self.zb.SetCommsFailsafe(True)
self.zb.ResetEpo()
import time
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
no_msg_timeout = 0.37
last_msg = None
last_msg_timestamp = None
auto_mode = False
ZB = ZeroBorg.ZeroBorg()
ZB.Init()
while True:
ZB.GetIrMessage()
if ZB.HasNewIrMessage():
message = ZB.GetIrMessage()
print('Received message: {}'.format(message))
last_msg = message
last_msg_timestamp = time.time()
# vim:sw=4:ts=4:et:
def __init__(self, directions=None, **kwargs):
"""
:param directions: Configuration for the motor directions. A direction is basically a configuration of the
power delivered to each motor to allow whichever object you're controlling (wheels, robotic arms etc.) to
move in a certain direction. In my experience the ZeroBorg always needs a bit of calibration, depending on
factory defaults and the mechanical properties of the load it controls.
Example configuration that I use to control a simple 4WD robot::
directions = {
"up": {
"motor_1_power": 0.4821428571428572,
"motor_2_power": 0.4821428571428572,
"motor_3_power": -0.6707142857142858,
"motor_4_power": -0.6707142857142858
},
"down": {
"motor_1_power": -0.4821428571428572,
"motor_2_power": -0.4821428571428572,
"motor_3_power": 0.825,
"motor_4_power": 0.825
},
"left": {
"motor_1_power": -0.1392857142857143,
"motor_2_power": -0.1392857142857143,
"motor_3_power": -1.0553571428571429,
"motor_4_power": -1.0553571428571429
},
"right": {
"motor_1_power": 1.0017857142857143,
"motor_2_power": 1.0017857142857143,
"motor_3_power": 0.6214285714285713,
"motor_4_power": 0.6214285714285713
},
"auto": {
"sensors": [
{
"plugin": "gpio.sensor.distance",
"threshold": 400.0,
"timeout": 2.0,
"above_threshold_direction": "up",
"below_threshold_direction": "left"
}
]
}
}
Note that the special direction "auto" can contain a configuration that allows your device to move autonomously
based on the inputs it gets from some sensors. In this case, I set the sensors configuration (a list) to
periodically poll a GPIO-based ultrasound distance sensor plugin. ``timeout`` says after how long a poll
attempt should fail. The plugin package is specified through ``plugin`` (``gpio.sensor.distance``) in this
case, note that the plugin must be configured as well in order to work). The ``threshold`` value says
around which value your logic should trigger. In this case, threshold=400 (40 cm). When the distance value
is above that threshold (``above_threshold_direction``), then go "up" (no obstacles ahead). Otherwise
(``below_threshold_direction``), turn "left" (avoid the obstacle).
:type directions: dict
"""
if directions is None:
directions = {}
import platypush.plugins.gpio.zeroborg.lib as ZeroBorg
super().__init__(**kwargs)
self.directions = directions
self.auto_mode = False
self._direction = None
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
self.zb.SetCommsFailsafe(True)
self.zb.ResetEpo()
def __init__(self, no_message_timeout=0.37, **kwargs):
super().__init__(**kwargs)
self.no_message_timeout = no_message_timeout
self.zb = ZeroBorg.ZeroBorg()
self.zb.Init()
self.logger.info('Initialized Zeroborg infrared sensor backend')