def run(self, conn):
self.conn = conn
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
motor_driver = motor.Motor(100, 80)
while True:
self.handleMessages()
# TODO: Vision to recognise red circle for mandatory stop?
# TODO self.vision.imageHandler.loadFrameAsset(cv2.imread('../assets/images/cup5.jpg', cv2.IMREAD_COLOR), True) # load camera asset
# TODO self.vision.do_Vision() # do vision here
# Update motor
left_speed, left_polarity, right_speed, right_polarity = motor_driver.update(
self.left_joy_ypos, self.right_joy_ypos)
motor_values = str(int(
round(left_speed))) + "," + str(left_polarity) + "," + str(
int(round(right_speed))) + "," + str(right_polarity)
comm.send_msg(self.conn, comm.MsgTypes.STATUS, motor_values)
# Write to serial
self.serial.write(bytes(motor_values + ";", "utf-8"))
time.sleep(0.1)
def __init__(self):
self.name = "fandf"
self.conn = None
self.is_stopped = False
self.left_joy_xpos = 512
self.right_joy_xpos = 512
self.left_joy_ypos = 512
self.right_joy_ypos = 512
self.serial = serial.Serial("/dev/ttyACM0")
self.motor_driver = motor.Motor(250, 100)
def __init__(self):
self.name = "dance"
self.conn = None
self.is_stopped = False
self.left_joy_xpos = 512
self.right_joy_xpos = 512
self.serial = serial.Serial("/dev/ttyACM0")
# Initiate neopixel led strip
self.strip = Adafruit_NeoPixel(LED_COUNT, LED_PIN, LED_FREQ_HZ,
LED_DMA, LED_INVERT, LED_BRIGHTNESS,
LED_CHANNEL)
self.strip.begin()
self.motor = motor.Motor(100, 25)
def run(self, conn):
self.conn = conn
comm.send_msg(self.conn, comm.MsgTypes.REPLY, "Started")
motor_driver = motor.Motor(250, 100)
while True:
self.handleMessages()
# Update motor
left_speed, left_polarity, right_speed, right_polarity = motor_driver.update(
self.left_joy_ypos, self.right_joy_ypos)
motor_values = str(int(
round(left_speed))) + "," + str(left_polarity) + "," + str(
int(round(right_speed))) + "," + str(right_polarity)
comm.send_msg(self.conn, comm.MsgTypes.STATUS, motor_values)
# Write to serial
self.serial.write(bytes(motor_values + ";", "utf-8"))
time.sleep(0.1)