'''
# brief : This file is speed script for roboclaw driver.
# @author : koji kawabata
# @date : 2019/10/23
'''
import time
import signal
import sys
import roboclaw_driver.roboclaw_driver as rc
rc.Open('/dev/ttyACM0', 115200)
address = 0x80
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
print("run speed command")
try:
rc.SpeedM1(address, 300)
time.sleep(2)
rc.SpeedM2(address, 300)
time.sleep(2)
rc.SpeedM1M2(address, 150, 150)
time.sleep(2)
rc.SpeedM1(address, -300)
time.sleep(2)
rc.SpeedM2(address, -300)
time.sleep(2)
rc.SpeedM1M2(address, -150, -150)
time.sleep(2)
rc.SpeedM1M2(address, 0, 0)
reading from the keyboard for PWM control
-------------------------------------------
KeyBoard
w
a d
s
e : force stop
Ctrl-c to quit
-------------------------------------------
"""
rc.Open('/dev/ttyACM0', 115200)
address = 0x80
pwm = 32
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
kb = KBHit()
def handler(signal, frame):
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
print('Finish')
sys.exit(0)
print(msg)
signal.signal(signal.SIGINT, handler)
try:
while True:
if kb.kbhit():
def handler(signal, frame):
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
print('Finish')
sys.exit(0)
def handler(signal, frame):
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
file.close()
print('Fin')
sys.exit(0)