#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your DC Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_drive_mode(dc.DRIVE_MODE_DRIVE_COAST)
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
dc.enable() # Enable motor power
raw_input("Press key to exit\n") # Use input() in Python 3
dc.disable() # Disable motor power
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_drive_mode(1) # Use 1 = Drive/Coast instead of 0 = Drive/Brake
dc.enable()
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
raw_input('Press key to exit\n') # Use input() in Python 3
dc.disable()
ipcon.disconnect()
def start(main_controller_connection):
signal.signal(signal.SIGTERM, signal_handler)
logger.info("Starting drive_controller")
# Motor drivers
ipcon.connect('localhost', 4223)
time.sleep(1.0)
right_wheel = BrickDC('6wUYf6', ipcon)
right_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
right_wheel.set_acceleration(60000)
right_wheel.set_velocity(0)
right_wheel.disable_status_led()
right_wheel.enable()
left_wheel = BrickDC('62gBJZ', ipcon)
left_wheel.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
left_wheel.set_acceleration(60000)
left_wheel.set_velocity(0)
left_wheel.disable_status_led()
left_wheel.enable()
cutter = BrickDC('6e68bZ', ipcon)
cutter.set_drive_mode(BrickDC.DRIVE_MODE_DRIVE_COAST)
cutter.set_acceleration(10000)
cutter.set_velocity(0)
cutter.disable_status_led()
cutter.enable()
while True:
if main_controller_connection.poll():
cmd = main_controller_connection.recv()
logger.info("Execute external command {}".format(str(cmd)))
execute_command(cmd, right_wheel, left_wheel, cutter)
time.sleep(0.01)
stepper.drive_forward()
elif distance <= 150:
print("Stepper -> Stop")
stepper.stop()
elif distance <= 130:
print("Stepper -> Zurück")
stepper.drive_backward()
else:
print("Puffer erreicht")
stepper.stop()
if __name__ == "__main__":
ipcon = IPConnection()
dcb = BrickDC(UIDdcb, ipcon)
oled = BrickletOLED128x64(UIDoled, ipcon)
poti = BrickletLinearPoti(UIDpoti, ipcon)
ropoti = BrickletRotaryPoti(UIDropoti, ipcon)
stepper = BrickStepper(UIDstepper, ipcon)
joystick = BrickletJoystick(UIDjoystick, ipcon)
irsensor = BrickletDistanceIR(UIDirsensor, ipcon)
ipcon.connect(HOST, PORT)
print("Verbindung unter folgenden Daten: \nIP: " + HOST + "\nPort: " +
PORT)
o_clear()
print("Einstellungen werden gesetzt")
o_write(1, 5, "Einstellungen")
o_write(1, 5, "werden gesetzt")
# Use velocity reached callback to swing back and forth
# between full speed forward and full speed backward
def cb_velocity_reached(velocity, dc):
if velocity == 32767:
print('Velocity: Full speed forward, now turning backward')
dc.set_velocity(-32767)
elif velocity == -32767:
print('Velocity: Full speed backward, now turning forward')
dc.set_velocity(32767)
else:
print('Error') # Can only happen if another program sets velocity
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# The acceleration has to be smaller or equal to the maximum
# acceleration of the DC motor, otherwise the velocity reached
# callback will be called too early
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
# Register velocity reached callback to function cb_velocity_reached
dc.register_callback(dc.CALLBACK_VELOCITY_REACHED,
lambda x: cb_velocity_reached(x, dc))
# Enable motor power
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XYZ" # Change to your UID
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_drive_mode(1) # Use 1 = Drive/Coast instead of 0 = Drive/Brake
dc.enable()
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
raw_input('Press key to exit\n') # Use input() in Python 3
dc.disable()
ipcon.disconnect()
#!/usr/bin/env python
# -*- coding: utf-8 -*-
HOST = "localhost"
PORT = 4223
UID = "XXYYZZ" # Change XXYYZZ to the UID of your DC Brick
from tinkerforge.ip_connection import IPConnection
from tinkerforge.brick_dc import BrickDC
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
dc.set_drive_mode(dc.DRIVE_MODE_DRIVE_COAST)
dc.set_pwm_frequency(10000) # Use PWM frequency of 10kHz
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
dc.enable() # Enable motor power
raw_input("Press key to exit\n") # Use input() in Python 3
dc.disable() # Disable motor power
ipcon.disconnect()
# Use velocity reached callback to swing back and forth
# between full speed forward and full speed backward
def cb_velocity_reached(velocity, dc):
if velocity == 32767:
print("Velocity: Full speed forward, now turning backward")
dc.set_velocity(-32767)
elif velocity == -32767:
print("Velocity: Full speed backward, now turning forward")
dc.set_velocity(32767)
else:
print("Error") # Can only happen if another program sets velocity
if __name__ == "__main__":
ipcon = IPConnection() # Create IP connection
dc = BrickDC(UID, ipcon) # Create device object
ipcon.connect(HOST, PORT) # Connect to brickd
# Don't use device before ipcon is connected
# The acceleration has to be smaller or equal to the maximum
# acceleration of the DC motor, otherwise the velocity reached
# callback will be called too early
dc.set_acceleration(5000) # Slow acceleration
dc.set_velocity(32767) # Full speed forward
# Register velocity reached callback to function cb_velocity_reached
dc.register_callback(dc.CALLBACK_VELOCITY_REACHED, lambda x: cb_velocity_reached(x, dc))
# Enable motor power
dc.enable()
