def main():
motors.enable()
motors.setSpeeds(0, 0)
inp = ""
while inp != "q":
try:
inp = input("f, b, s, or q: ")
except:
print("\nNo fun exiting")
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
if inp == "f":
motors.motor1.setSpeed(-480)
elif inp == "b":
motors.motor1.setSpeed(480)
elif inp == "s":
motors.motor1.setSpeed(0)
elif inp == "q":
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
else:
print("nope")
def callback_function(message):
cmd_pwr = int(message.data * float(MAX_SPEED))
rospy.loginfo("Command Recieved: %s" % cmd_pwr)
motors.enable()
motors.setSpeeds(cmd_pwr, cmd_pwr)
def turn_right():
motors.enable()
if not disable_motor_flag:
motors.setSpeeds(-turn_motor_speed, turn_motor_speed)
time.sleep(motor_turn_time)
motors.setSpeeds(0, 0)
motors.disable()
def __init__(self):
## Assumes blynk joystick runs from -128->128 on x/y axis
self.maxval = 128
motors.enable()
self.vel_r = 0
self.vel_l = 0
self.x1 = 0
self.x2 = 0
def __init__(self):
rospy.init_node('listener', anonymous=True)
self.cmdvel_sub = rospy.Subscriber("/cmd_vel", Twist, self.cmdvel_cb)
motors.enable()
motors.setSpeeds(0, 0)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
def main():
global bus
global busloc
global axis_tilt
global axis_azi
initsensor(bus, busloc)
timezone = pytz.timezone(STRTZ)
motors.enable()
motors.setSpeeds(0, 0)
RUNNING = True
last_set_val = 0
last_set_time = 0
while RUNNING:
curtime = datetime.datetime.now()
curday = curtime.strftime("%Y-%m-%d")
mystrtime = curtime.strftime("%Y-%m-%d %H:%M:%S")
epochtime = int(time.time())
mydate = timezone.localize(curtime)
curalt, curaz = get_alt_az(mydate)
cur_r = mydeg(get_pos())
track_err = False
if curalt > 0:
# We only check if there is a track error if the sun is up, no point in correcting all night long
if math.fabs(math.fabs(cur_r) - math.fabs(last_set_val)) > 2.0:
print("%s - Track error, going to set track_err to true: cur_r: %s - last_set_val: %s" % (mystrtime, cur_r, last_set_val))
track_err = True
sun_r = getR(curalt, curaz, axis_tilt, axis_azi)
if INVERT_SENSOR:
sun_r = -sun_r
print("%s - Sun is up! - Sun Alt: %s - Sun Azi: %s - Cur Rot: %s - Potential Sun Rot: %s" % (mystrtime, curalt, curaz, cur_r, sun_r))
NEW_SET_VAL = None
if sun_r <= EAST_ANGLE and sun_r >= WEST_ANGLE:
print("%s - Potential new val: %s - cur: %s" % (mystrtime, sun_r, cur_r))
NEW_SET_VAL = sun_r
elif sun_r > EAST_ANGLE and (last_set_val != EAST_ANGLE or track_err == True):
print("%s - Sun Rot (%s) is Beyond East(%s), and array needs to move there" % (mystrtime, sun_r, EAST_ANGLE))
NEW_SET_VAL = EAST_ANGLE
elif sun_r < WEST_ANGLE and (last_set_val != WEST_ANGLE or track_err == True):
print("%s - Sun Rot (%s) is Beyond West(%s), and array needs to move there" % (mystrtime, sun_r, WEST_ANGLE))
NEW_SET_VAL = WEST_ANGLE
if epochtime - last_set_time >= MOVE_INTERVAL and NEW_SET_VAL is not None:
print("%s Setting New val: %s from %s" % (mystrtime, NEW_SET_VAL, cur_r))
last_set_time = epochtime
last_set_val = NEW_SET_VAL
goto_angle(NEW_SET_VAL)
else:
if last_set_val != NIGHT_POS:
print("%s - Sun is down setting to %s for the night" % (mystrtime, NIGHT_POS))
goto_angle(NIGHT_POS)
last_set_val = NIGHT_POS
last_set_time = epochtime
time.sleep(60)
def main():
global bus
global busloc
initsensor(bus, busloc)
timezone = pytz.timezone(STRTZ)
motors.enable()
motors.setSpeeds(0, 0)
inp = ""
while inp != "q":
cur_pos = mydeg(get_pos())
try:
inp = input("Current Angle: %s - a, f, b, s, or q: " % cur_pos)
except:
print("\nNo fun exiting")
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
if inp == "f":
motors.motor1.setSpeed(-480)
elif inp == "b":
motors.motor1.setSpeed(480)
elif inp == "s":
motors.motor1.setSpeed(0)
elif inp == "q":
motors.setSpeeds(0, 0)
motors.disable()
sys.exit(0)
elif inp == "a":
print(
"Oh cool, you want to set an angle! Type it here, oh, use whole numbers for now"
)
print("")
myangle = input(
"Set a whole number angle between %s (East) and %s (West): " %
(EAST_ANGLE, WEST_ANGLE))
if 1 == 1:
ang = int(myangle)
print("Using %s as your angle (you entered %s, we int() it)" %
(ang, myangle))
print("Setting Now")
goto_angle(ang)
print("Set complete")
print("")
else:
print("We couldn't int your angle, ignoring you for now")
continue
else:
print("nope")
print(
"w- forward full speed\ne- forward halfspeed\ns- back full speed\nd- back halfspeed\nb- bilge\np- pitch"
)
print("\n")
shiftcounter = 0
speedvar = MAX_SPEED
halfspeed = (MAX_SPEED * .5)
while True: # making a loop
try:
#Back
if keyboard.is_pressed("s"): # if key 's' is pressed
#print("\n forward (s)")
motors.enable()
motors.motor1.setSpeed(MAX_SPEED)
motors.motor2.setSpeed(MAX_SPEED)
raiseIfFault()
#back halfspeed
elif keyboard.is_pressed("d"): # if key 's' is pressed
#print("\n forward (s)")
motors.enable()
motors.motor1.setSpeed(halfspeed)
raiseIfFault()
#Forward
elif keyboard.is_pressed("w"):
#print("\n backward (w)")
motors.enable()
def key_rover(ch,prev_ch,motorspeed,motors_enabled):
#check if this is the first time executing this function
while ch:
print ch
#Rover Motors Re-Enable
if ch == 'h':
if motors_enabled == False:
motors.enable()
motors_enabled = True
print ('Rover Motors Enabled. To disable, press \';\'')
#Don't allow any other input until motors re-enabled
elif motors_enabled == False:
print ('Rover Motors Disabled. To enable, press \'h\'')
#Rover Motors Disable
elif ch == ';':
if motors_enabled == True:
motors.disable()
motors_enabled = False
print ('Rover Motors Disabled. To enable, press \'h\'')
#Rover Forward
elif ch == 'i':
print ('Rover Forward')
motors.setSpeeds(motorspeed,motorspeed)
#Rover Backward
elif ch == 'k':
print ('Rover Backward')
motors.setSpeeds(-motorspeed,-motorspeed)
#Rover Pivot Right
elif ch == 'l':
print ('Rover Pivot Right')
motors.setSpeeds(motorspeed,-motorspeed)
#Rover Pivot Left
elif ch == 'j':
print ('Rover Pivot Left')
motors.setSpeeds(-motorspeed,motorspeed)
#Rover Speed Up
elif ch == 'o':
#check that the motorspeed is not MAX_SPEED
if(motorspeed == MAX_SPEED):
print ('Rover is at maximum defined speed of %d.', motorspeed)
else:
motorspeed = motorspeed + SPEED_INTERVAL;
#check if the increase put motorspeed over MAX_SPEED & correct
if(motorspeed >= MAX_SPEED):
motorspeed == MAX_SPEED
print ('Rover Speed Up: %d', motorspeed)
#Rover Slow Down
elif ch == 'u':
#check that the motorspeed is not 0
if(motorspeed == 0):
print ('Rover is at minimum speed of %d.', motorspeed)
else:
motorspeed = motorspeed - SPEED_INTERVAL;
#check if the decrease put motorspeed under 0 & correct
if(motorspeed <= 0):
motorspeed == 0
print ('Rover Slow Down: %d', motorspeed)
#Rover stop if no key input
else:
motors.setSpeeds(0, 0)
print ('Rover Stop')
prev_ch = 'Stopped'
return motorspeed, motors_enabled
motoraxis = 0
#Round off the float to an integer so the motor controller can read it.
motoraxis = int(round(motoraxis))
return motoraxis
def callback(data):
rospy.loginfo("%s", data.data)
return data.data
##############################################################################
################ End of Definitions, beginning code execution ################
##############################################################################
motors.enable() #Keagan initializing motors
rover_enabled = True
motors.setSpeeds(0, 0) #Keagan guaranteeing motors are stopped
print msg
rospy.init_node('Rover',anonymous=True)
#Keagan -- is this where I should place my operating code?
print ('Send commands to rover now...')
while True:
ch = rospy.Subscriber("rover/cmd_vel",String,callback)
print ch
#Exit
if ch == '\x03':
motors.disable()
def send_motor_pwr(left, right): motors.enable() motors.setSpeeds(int(left * float(MAX_SPEED)), int(right * float(MAX_SPEED)))
