def test_GPS():
dm = DeviceManager()
dm.add("gps", GPSDevice(285225))
dm.waitUntilAllReady()
while True:
print(dm.get_event())
time.sleep(1)
def test_spatial():
dm = DeviceManager()
dm.add("spatial", SpatialDevice())
dm.waitUntilAllReady()
while True:
print(dm.get_event())
time.sleep(1)
def test_WindSpeed():
dm = DeviceManager()
dm.add("wind_speed", WindSpeedDevice(529516, 5))
dm.waitUntilAllReady()
while True:
print(dm.get_event())
time.sleep(1)
def test_lidar():
dm = DeviceManager()
dm.add("lidar", LidarLiteDevice())
dm.waitUntilAllReady()
while True:
print(dm.get_event())
time.sleep(1)
def test_direction():
dm = DeviceManager()
dm.add("wind_direction", WindDirectionDevice(529516, 0))
dm.waitUntilAllReady()
while True:
print(dm.get_event())
time.sleep(1)
def test_direction():
dm = DeviceManager()
print("adding devices")
dm.add("water_speed_forward", WaterSpeedDevice("forward", 529470, 1))
dm.add("water_speed_backward", WaterSpeedDevice("backward", 529470, 2))
dm.add("water_speed_left", WaterSpeedDevice("left", 529470, 3))
dm.add("water_speed_right", WaterSpeedDevice("right", 529470, 4))
print("start to wait for device ready")
dm.waitUntilAllReady()
print("device ready")
while True:
print(dm.get_event())
time.sleep(1)
def hardware_setup():
dm = DeviceManager()
js = Joystick()
cam = Cam(CAM_DEVICE_INDEX, LOG_PATH + "/images")
dm.add("dc_motor", DCMotorDevice(DC_MOTOR_HUB, DC_MOTOR_PORT))
dm.link("dc_motor", "setTargetVelocity", "throttle")
dm.add("servo", ServoMotorDevice(SERVO_HUB, SERVO_PORT, SERVO_CHANNEL))
dm.link("servo", "setTargetPosition", "direction",
lambda val: interp(val, [0, 180], [45, 135]))
dm.add("gps", GPSDevice(GPS_SERIAL_NUM))
dm.add("wind_speed", WindSpeedDevice(WIND_HUB, WIND_SPEED_PORT))
dm.add("wind_direction", WindDirectionDevice(WIND_HUB,
WIND_DIRECTION_PORT))
dm.add("spatial", SpatialDevice())
dm.add(
"water_speed_forward",
WaterSpeedDevice("forward", WATER_SPEED_HUB, WATER_SPEED_FORWARD_PORT))
dm.add(
"water_speed_backward",
WaterSpeedDevice("backward", WATER_SPEED_HUB,
WATER_SPEED_BACKWARD_PORT))
dm.add("water_speed_left",
WaterSpeedDevice("left", WATER_SPEED_HUB, WATER_SPEED_LEFT_PORT))
dm.add("water_speed_right",
WaterSpeedDevice("right", WATER_SPEED_HUB, WATER_SPEED_RIGHT_PORT))
dm.add("lidar", LidarLiteDevice())
dm.waitUntilAllReady()
return dm, js, cam
