def mainSailAngle():
windAngle = analogTest.readadc(potentiometer_adc, SPICLK, SPIMOSI, SPIMISO,
SPICS)
print("Wind Dir: " + str(windAngle))
angle = (0.0068 * windAngle - (0.6428 + (math.pi / 2)))
if angle < 0:
angle = (2 * math.pi) + angle
# equation abs(-180*sin(radians)+150) calulates main sail angle from wind angle radians
#mainSail = abs(-180*math.sin(angle) + 150)
mainSail = angle
moveservo.main(mainsail_channel, int((mainSail * 180) / math.pi))
print("Wind Angle: " + str((angle * 180) / math.pi))
print("Mainsail Angle: " + str((mainSail * 180) / math.pi))
def turnBoat(dir): if dir == 'left': moveservo.main(rudder_channel, 437) if dir == 'right': moveservo.main(rudder_channel, 337) if dir == 'straight': moveservo.main(rudder_channel, 387)
def main():
global command
servo_one_sig = 387
servo_two_sig = 387
servo_three_sig = 400
threading1 = threading.Thread(target=getCommand)
threading1.start()
mainsail_channel = 4
aftsail_channel = 5
rudder_channel = 3
move_by = 30
# moveservo.main(mainsail_channel, 387)
# moveservo.main(aftsail_channel, 387)
# moveservo.main(rudder_channel, 400)
while True:
if not command:
print "main: empty"
else:
print "main: " + command
#Commands to move servos
if command == "1" and servo_three_sig > 225:
servo_three_sig -= move_by
moveservo.main(mainsail_channel, servo_three_sig)
if command == "2" and servo_three_sig > 225:
servo_three_sig = 400
moveservo.main(mainsail_channel, servo_three_sig)
if command == "3" and servo_three_sig < 575:
servo_three_sig += move_by
moveservo.main(mainsail_channel, servo_three_sig)
if command == "4" and servo_two_sig > 200:
servo_two_sig -= move_by
moveservo.main(aftsail_channel, servo_two_sig)
if command == "5" and servo_three_sig > 225:
servo_three_sig = 387
moveservo.main(aftsail_channel, servo_three_sig)
if command == "6" and servo_two_sig < 575:
servo_two_sig += move_by
moveservo.main(aftsail_channel, servo_two_sig)
if command == "7" and servo_one_sig > 200:
servo_one_sig -= move_by
moveservo.main(rudder_channel, servo_one_sig)
if command == "8" and servo_three_sig > 225:
servo_three_sig = 387
moveservo.main(rudder_channel, servo_three_sig)
if command == "9" and servo_one_sig < 575:
servo_one_sig += move_by
moveservo.main(rudder_channel, servo_one_sig)
rfSend("Connected")
displaySensorInfo()
# calculates main sail angle depending on angle of wind direction sensor
def mainSailAngle():
windAngle = analogTest.readadc(potentiometer_adc, SPICLK, SPIMOSI, SPIMISO,
SPICS)
print("Wind Dir: " + str(windAngle))
angle = (0.0068 * windAngle - (0.6428 + (math.pi / 2)))
if angle < 0:
angle = (2 * math.pi) + angle
# equation abs(-180*sin(radians)+150) calulates main sail angle from wind angle radians
#mainSail = abs(-180*math.sin(angle) + 150)
mainSail = angle
moveservo.main(mainsail_channel, int((mainSail * 180) / math.pi))
print("Wind Angle: " + str((angle * 180) / math.pi))
print("Mainsail Angle: " + str((mainSail * 180) / math.pi))
# first move main sail to neutral position
moveservo.main(mainsail_channel, 360)
time.sleep(3)
while True:
mainSailAngle()
time.sleep(0.5)