import time
from roboclaw import Roboclaw
# Windows comport name
# rc = Roboclaw("COM9", 115200)
# Linux comport name
rc = Roboclaw("/dev/ttyACM0", 115200)
rc.Open()
address = 0x80
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
while (1):
rc.ForwardMixed(address, 32)
time.sleep(2)
rc.BackwardMixed(address, 32)
time.sleep(2)
rc.TurnRightMixed(address, 32)
time.sleep(2)
rc.TurnLeftMixed(address, 32)
time.sleep(2)
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 32)
time.sleep(2)
rc.TurnLeftMixed(address, 32)
time.sleep(2)
rc.TurnRightMixed(address, 0)
time.sleep(2)
ser0.write(b'G\r\n')
ser1.write(b'G\r\n')
ser2.write(b'G\r\n')
ser3.write(b'G\r\n')
print('Zero Point Cal Air')
time.sleep(1)
# RoboClaw Start up
rc = Roboclaw("/dev/ttyACM0",115200)
rc.Open()
address = 0x80
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
# IMU startup
if not bno.begin():
raise RuntimeError('Failed to initialize BNO055! Is the sensor connected?')
# Print system status and self test result.
status, self_test, error = bno.get_system_status()
print('System status: {0}'.format(status))
print('Self test result (0x0F is normal): 0x{0:02X}'.format(self_test))
# Print out an error if system status is in error mode.
if status == 0x01:
print('System error: {0}'.format(error))
import time
from roboclaw import Roboclaw
#Windows comport name
#rc = Roboclaw("COM9",115200)
#Linux comport name
#rc = Roboclaw("/dev/ttyACM0",115200)
rc = Roboclaw("/dev/serial0", 38400)
rc.Open()
address = 0x80
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 0)
while (1):
rc.ForwardMixed(address, 60)
time.sleep(2)
rc.BackwardMixed(address, 60)
time.sleep(2)
rc.TurnRightMixed(address, 32)
time.sleep(2)
rc.TurnLeftMixed(address, 32)
time.sleep(2)
rc.ForwardMixed(address, 0)
rc.TurnRightMixed(address, 32)
time.sleep(2)
rc.TurnLeftMixed(address, 32)
time.sleep(2)
rc.TurnRightMixed(address, 0)
time.sleep(2)