print "Final Year Project" print "Ghulam Ishaq Khan Institute of Engineering Sciences and Technology" print "https://github.com/alyyousuf7/RollE" print "" signal.signal(signal.SIGTSTP, config.cleanup) print "Press CTRL+Z to exit." print "" imu = IMU() imu.start() bt = Bluetooth() bt.start() imu2bt = IMUtoBT(imu, bt) imu2bt.start() motor1 = Motor(config.Motor1_D1, config.Motor1_D2, config.Motor1_EN, 0) motor2 = Motor(config.Motor2_D1, config.Motor2_D2, config.Motor2_EN, 1) motor3 = Motor(config.Motor3_D1, config.Motor3_D2, config.Motor3_EN, 2) stablizer = Stablizer(imu, motor1, motor2, motor3) # Send PID Values over Bluetooth currentPID = "PID:%.2f,%.2f,%.2f\n" % tuple(config.PID) bt.write(currentPID) while True: print imu.getData() time.sleep(config.ScreenDisplay_delay)
