def initialize_robot(self):
"""Initialize robot interfaces (sensors and actuators) and its brain from configuration"""
self.stop_interfaces()
self.actuators = Actuators(self.configuration.actuators)
self.sensors = Sensors(self.configuration.sensors)
self.brains = Brains(self.sensors, self.actuators,
self.configuration.brain_path, self.controller)
self.__wait_gazebo()
def __init__(self, config):
self._motors = Motors(config)
self._sensors = Sensors(config)
def left_speed():
return self._sensors.speed_left
def right_speed():
return self._sensors.speed_right
def left_ticks():
return self._sensors.enc_ticks_left
def right_ticks():
return self._sensors.enc_ticks_right
self._left = Helper(speed_sensor=left_speed, ticks_sensor=left_ticks)
self._right = Helper(speed_sensor=right_speed,
ticks_sensor=right_ticks)
from robot.motor import Motors
from robot.sensors import Sensors
import config
import time
if __name__ == '__main__':
SPEED = 40
motors = Motors(config)
sensors = Sensors(config)
sensors.start()
torque = 0
data = []
for _ in range(300):
time.sleep(0.01)
sensors.read()
data.append((sensors.timer, sensors.speed_left, sensors.speed_right,
sensors.enc_ticks_left, sensors.enc_ticks_right, torque))
if _ == 50:
torque = SPEED
motors.run(SPEED, SPEED)
if _ == 150:
torque = -SPEED
motors.run(-SPEED, -SPEED)
